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Merge pull request #238 from Capo01/patch-15

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Additional detail for the control method
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Oskar Weigl
2018-09-12 18:59:57 -07:00
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parent 3f36e7df74 6eb53f13e0
commit 6cfcdd2a77
1 changed files with 24 additions and 3 deletions
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docs/control.md
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@@ -4,6 +4,27 @@ The motor controller is a cascaded style position, velocity and current control
![Cascaded pos vel I loops](https://static1.squarespace.com/static/58aff26de4fcb53b5efd2f02/t/5b66284a0e2e72aae8818d64/1533421649405/CascadedController.png?format=2500w)
* The position controller is a P loop with a single proportional gain.
* The velocity controller is a PI loop.
* The current controller is a PI loop.
### Position loop:
The position controller is a P loop with a single proportional gain.
```text
pos_error = pos_setpoint - pos_feedback
vel_cmd = pos_error * pos_gain + vel_feedforward
```
### Velocity loop:
The velocity controller is a PI loop.
```text
vel_error = vel_cmd - vel_feedback
current_integral += vel_error * vel_integrator_gain
current_cmd = vel_error * vel_gain + current_integral + current_feedforward
```
### Current loop:
The current controller is a PI loop.
```text
current_error = current_cmd - current_fb
voltage_integral += current_error * current_integrator_gain
voltage_cmd = current_error * current_gain + voltage_integral (+ voltage_feedforward when we have motor model)
```
For more detail refer to [controller.cpp](https://github.com/madcowswe/ODrive/blob/master/Firmware/MotorControl/controller.cpp#L86).