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fix brake resistor control

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Oskar Weigl
2017-02-10 18:15:05 +01:00
parent 5499afa921
commit 8544f84fa6
2 changed files with 18 additions and 6 deletions
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MotorControl/low_level.c
+17 -5
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@@ -250,7 +250,11 @@ static void start_adc_pwm(){
//TODO: explain why this offset
sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_1_8_PERIOD_CLOCKS/2 - 1*128);
// Start brake resistor PWM in floating output configuration
htim2.Instance->CCR3 = 0;
htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS+1;
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
}
static void start_pwm(TIM_HandleTypeDef* htim){
@@ -742,8 +746,10 @@ static void FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
{
mod_d *= mod_scalefactor;
mod_q *= mod_scalefactor;
//@TODO make decayfactor configurable
ictrl->v_current_control_integral_d *= 0.99f;
ictrl->v_current_control_integral_q *= 0.99f;
} else {
//@TODO look into fancier anti integrator windup than simple locking
ictrl->v_current_control_integral_d += Ierr_d * (ictrl->i_gain * CURRENT_MEAS_PERIOD);
ictrl->v_current_control_integral_q += Ierr_q * (ictrl->i_gain * CURRENT_MEAS_PERIOD);
}
@@ -752,14 +758,17 @@ static void FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
ictrl->Ibus = mod_d * Id + mod_q * Iq;
// If this is last motor, update brake resistor duty
if (motor == &motors[num_motors-1]) {
// if (motor == &motors[num_motors-1]) {
//Above check doesn't work if last motor is executing voltage control
//@TODO trigger this update in control_motor_loop instead,
// and make voltage control a control mode in it.
float Ibus_sum = 0.0f;
for (int i = 0; i < num_motors; ++i) {
Ibus_sum += motors[i].current_control.Ibus;
}
//Note: function will clip negative values to 0.0f
update_brake_current(-Ibus_sum);
}
// }
// Inverse park transform
float mod_alpha = c*mod_d - s*mod_q;
@@ -815,8 +824,11 @@ void motor_thread(void const * argument) {
}
float test_current = 10.0f;
float R = measure_phase_resistance(motor, test_current, 1.0f);
float L = measure_phase_inductance(motor, -1.0f, 1.0f);
// float R = measure_phase_resistance(motor, test_current, 1.0f);
// float L = measure_phase_inductance(motor, -1.0f, 1.0f);
#warning(hardcoded values!)
float R = 0.0332548246f;
float L = 7.97315806e-06f;
motor->rotor.encoder_offset = calib_enc_offset(motor, test_current * R);
//Calculate current control gains