Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-19 11:07:16 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Update control.md

Browse Source
This commit is contained in:
Oskar Weigl
2018-09-12 18:59:02 -07:00
committed by GitHub
parent 4a5f2cc1c0
commit 6eb53f13e0
1 changed files with 15 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/control.md
+15 -5
View File
@@ -6,15 +6,25 @@ The motor controller is a cascaded style position, velocity and current control
### Position loop:
The position controller is a P loop with a single proportional gain.
* `vel_cmd = (pos_setpoint - pos_feedback) * pos_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.
* `vel_error_sum += (vel_cmd - vel_feedback) * vel_integrator_gain`
* `current_cmd = (vel_cmd - vel_feedback) * vel_gain + vel_error_sum + vel_feedforward`
```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.
* `current_error_sum += (current_cmd - current_fb) * current_integrator_gain`
* `voltage_cmd = (current_cmd - current_fb) * current_gain + current_error_sum + current_feedforward`
```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).