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tunings for large motor

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This commit is contained in:
Oskar Weigl
2017-02-03 19:04:46 +01:00
parent 8b449f2a2e
commit c76ff61dd4
1 changed files with 12 additions and 12 deletions
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MotorControl/low_level.c
+12 -12
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@@ -696,7 +696,7 @@ static void FOC_current_loop(Motor_t* motor, float Id_des, float Iq_des) {
}
static void control_velocity_loop(Motor_t* motor, float test_vel) {
static const float k_vel = 5.0f / 10000.0f; // [A/(counts/s)]
static const float k_vel = 10.0f / 10000.0f; // [A/(counts/s)]
for (;;) {
osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, osWaitForever);
update_rotor(&motor->rotor);
@@ -712,7 +712,7 @@ static void control_velocity_loop(Motor_t* motor, float test_vel) {
static void control_position_loop(Motor_t* motor, float test_pos) {
static const float k_pos = 20.0f; // [(counts/s) / counts]
static const float k_vel = 5.0f / 10000.0f; // [A/(counts/s)]
static const float k_vel = 10.0f / 10000.0f; // [A/(counts/s)]
static const float vel_lim = 10000.0f; // [counts/s]
for (;;) {
osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, osWaitForever);
@@ -740,24 +740,24 @@ void motor_thread(void const * argument) {
motor->motor_thread = osThreadGetId();
motor->thread_ready = true;
float test_current = 4.0f;
float R = measure_phase_resistance(motor, test_current, 1.0f);
float L = measure_phase_inductance(motor, -1.0f, 1.0f);
motor->rotor.encoder_offset = calib_enc_offset(motor, test_current * R);
//Only run tests on M0 for now
if (motor == &motors[1]) {
FOC_voltage_loop(motor, 0.0f, 0.0f);
}
float test_current = 8.0f;
float R = measure_phase_resistance(motor, test_current, 1.0f);
float L = measure_phase_inductance(motor, -1.0f, 1.0f);
motor->rotor.encoder_offset = calib_enc_offset(motor, test_current * R);
//Calculate current control gains
float current_control_bandwidth = 2000.0f; // [rad/s]
float current_control_bandwidth = 1000.0f; // [rad/s]
motor->current_control.p_gain = current_control_bandwidth * L;
float plant_pole = R/L;
motor->current_control.i_gain = plant_pole * motor->current_control.p_gain;
//Calculate rotor pll gains
float rotor_pll_bandwidth = 2000.0f; // [rad/s]
float rotor_pll_bandwidth = 1000.0f; // [rad/s]
motor->rotor.pll_kp = 2.0f * rotor_pll_bandwidth;
//Check that we don't get problems with discrete time approximation
safe_assert(CURRENT_MEAS_PERIOD * motor->rotor.pll_kp < 1.0f);
@@ -766,9 +766,9 @@ void motor_thread(void const * argument) {
// scan_motor(motor, 50.0f, test_current * R);
// FOC_voltage_loop(motor, 0.0f, 0.8f);
FOC_current_loop(motor, 0.0f, 0.0f);
// static const float test_vel = 10000.0f; // [counts/s]
// control_velocity_loop(motor, test_vel);
// FOC_current_loop(motor, 0.0f, 0.0f);
static const float test_vel = 10000.0f; // [counts/s]
control_velocity_loop(motor, test_vel);
// static const float test_pos = 10000.0f; // [counts]
// control_position_loop(motor, test_pos);