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implement spinup sequence

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This commit is contained in:
Oskar Weigl
2017-07-30 23:40:30 -07:00
parent e1ef67ebe0
commit ce72c3df4a
1 changed files with 25 additions and 10 deletions
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MotorControl/low_level.c
+25 -10
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@@ -47,9 +47,10 @@ Motor_t motors[] = {
.error = ERROR_NO_ERROR,
.pos_setpoint = 0.0f,
.pos_gain = 20.0f, // [(counts/s) / counts]
.vel_setpoint = 40000.0f,
.vel_gain = 15.0f / 10000.0f, // [A/(counts/s)]
// .vel_gain = 15.0f / 200.0f, // [A/(rad/s)]
// .vel_setpoint = 40000.0f,
.vel_setpoint = 800.0f,
// .vel_gain = 15.0f / 10000.0f, // [A/(counts/s)]
.vel_gain = 15.0f / 200.0f, // [A/(rad/s)]
// .vel_integrator_gain = 10.0f / 10000.0f, // [A/(counts/s * s)]
.vel_integrator_gain = 0.0f, // [A/(rad/s * s)]
.vel_integrator_current = 0.0f, // [A]
@@ -94,7 +95,8 @@ Motor_t motors[] = {
.final_v_beta = 0.0f,
},
// .rotor_mode = ROTOR_MODE_ENCODER,
.rotor_mode = ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS,
// .rotor_mode = ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS,
.rotor_mode = ROTOR_MODE_SENSORLESS,
.encoder = {
.encoder_timer = &htim3,
.encoder_offset = 0,
@@ -118,7 +120,7 @@ Motor_t motors[] = {
.pm_flux_linkage = 1.58e-3f, // [V / (rad/s)] { 5.51328895422 / (<pole pairs> * <rpm/v>) }
.estimator_good = false,
.spin_up_current = 10.0f, // [A]
.spin_up_acceleration = 100.0f, // [rad/s^2]
.spin_up_acceleration = 400.0f, // [rad/s^2]
.spin_up_target_vel = 400.0f, // [rad/s]
},
.timing_log_index = 0,
@@ -1266,18 +1268,31 @@ static bool spin_up_sensorless(Motor_t* motor) {
float I_mag = 0.0f;
// spiral up current
for (float x = 0; x < 1.0f; x += ramp_step) {
phase = ramp_up_distance * x;
for (float x = 0.0f; x < 1.0f; x += ramp_step) {
phase = wrap_pm_pi(ramp_up_distance * x);
I_mag = motor->sensorless.spin_up_current * x;
if(!spin_up_timestep(motor, phase, I_mag))
return false;
}
// accelerate
while (vel < motor->sensorless.spin_up_target_vel) {
vel += motor->sensorless.spin_up_acceleration * current_meas_period;
phase = wrap_pm_pi(phase + vel * current_meas_period);
if(!spin_up_timestep(motor, phase, motor->sensorless.spin_up_current))
return false;
}
// // test keep spinning
// while (true) {
// phase = wrap_pm_pi(phase + vel * current_meas_period);
// if(!spin_up_timestep(motor, phase, motor->sensorless.spin_up_current))
// return false;
// }
return true;
// accelerate
// check pll vel (abs ratio, 0.8)
// TODO: check pll vel (abs ratio, 0.8)
}
static void update_brake_current(float brake_current) {