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tune pll

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This commit is contained in:
Oskar Weigl
2016-12-19 01:08:29 +09:00
parent 0d4722e425
commit ed418aadd0
1 changed files with 16 additions and 4 deletions
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MotorControl/low_level.c
+16 -4
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@@ -625,9 +625,21 @@ static void update_rotor(Rotor_t* rotor) {
rotor->phase = ph;
//run pll (for now pll is in units of encoder counts)
//@TODO pll_pos runs out of precision very quickly here! Perhaps decompose into integer and fractional part?
// Predict current pos
rotor->pll_pos += CURRENT_MEAS_PERIOD * rotor->pll_vel;
// discrete phase detector
float delta_pos = (float)(rotor->encoder_state - (int32_t)floorf(rotor->pll_pos));
rotor->pll_pos += CURRENT_MEAS_PERIOD * (rotor->pll_vel + rotor->pll_kp * delta_pos);
rotor->pll_vel += CURRENT_MEAS_PERIOD * (rotor->pll_ki * delta_pos);
// pll feedback
rotor->pll_pos += CURRENT_MEAS_PERIOD * rotor->pll_kp * delta_pos;
rotor->pll_vel += CURRENT_MEAS_PERIOD * rotor->pll_ki * delta_pos;
if (rotor == &motors[0].rotor) {
static int ctr = 0;
if (++ctr == 10000) {
ctr = 0;
}
}
}
@@ -730,8 +742,8 @@ void motor_thread(void const * argument) {
motor->rotor.pll_ki = 0.25f * (motor->rotor.pll_kp * motor->rotor.pll_kp);
// scan_motor(motor, 50.0f, test_current * R);
// FOC_voltage(motor, 0.0f, 0.8f);
FOC_current(motor, 0.0f, 0.0f);
FOC_voltage(motor, 0.0f, 0.8f);
// FOC_current(motor, 0.0f, 0.0f);
//De-energize motor
queue_voltage_timings(motor, 0.0f, 0.0f);