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Added test for torque limit - TestTorqueLimit()

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PAJohnson
2020-06-23 03:46:45 +01:00
parent 7c33fa5d27
commit fa1cf2553f
1 changed files with 83 additions and 1 deletions
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tools/odrive/tests/closed_loop_test.py
+83 -1
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@@ -294,11 +294,93 @@ class TestVelLimitInTorqueControl(TestClosedLoopControlBase):
test_curve_fit(dataA[:,(0,3)], dataA[:,4], max_mean_err=0.02, inlier_range=0.05, max_outliers=len(dataA[:,0]*0.01))
test_curve_fit(dataB[:,(0,3)], dataB[:,4], max_mean_err=0.1, inlier_range=0.2, max_outliers=len(dataB[:,0])*0.01)
class TestTorqueLimit(TestClosedLoopControlBase):
"""
Checks that the torque limit is respected in position, velocity, and torque control modes
"""
def run_test(self, axis_ctx: ODriveAxisComponent, motor_ctx: MotorComponent, enc_ctx: EncoderComponent, logger: Logger):
with self.prepare(axis_ctx, motor_ctx, enc_ctx, logger):
max_rps = 15.0
max_vel = max_rps * float(enc_ctx.yaml['cpr'])
max_current = 30.0
max_torque = 0.1 # must be less than max_current * torque_constant.
torque_constant = axis_ctx.handle.motor.config.torque_constant
test_pos = 5 * float(enc_ctx.yaml['cpr'])
test_vel = 10 * float(enc_ctx.yaml['cpr'])
test_torque = 0.5
axis_ctx.handle.controller.config.vel_limit = max_vel
axis_ctx.handle.motor.config.current_lim = max_current
axis_ctx.handle.motor.config.torque_lim = inf #disable torque limit
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
def data_getter():
current_setpoint = axis_ctx.handle.motor.current_control.Iq_setpoint
torque_setpoint = current_setpoint * torque_constant
torque_limit = axis_ctx.handle.motor.config.torque_lim
# Abort immediately if the absolute limits are exceeded
test_assert_within(current_setpoint, -max_current, max_current)
test_assert_within(torque_setpoint, -torque_limit, torque_limit)
return max_current, current_setpoint, torque_limit, torque_setpoint
# begin test
axis_ctx.handle.motor.config.torque_lim = max_torque
request_state(axis_ctx, AXIS_STATE_CLOSED_LOOP_CONTROL)
# step input positions
logger.debug('input_pos step test')
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
axis_ctx.handle.controller.input_pos = test_pos
dataPos = record_log(data_getter, duration=1.0)
axis_ctx.handle.controller.input_pos = -test_pos
dataPos = np.concatenate([dataPos, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_pos = test_pos
dataPos = np.concatenate([dataPos, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_pos = -test_pos
dataPos = np.concatenate([dataPos, record_log(data_getter, duration=1.0)])
time.sleep(0.5)
test_assert_no_error(axis_ctx)
# step input velocities
logger.debug('input_vel step test')
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
axis_ctx.handle.controller.input_vel = test_vel
dataVel = record_log(data_getter, duration=1.0)
axis_ctx.handle.controller.input_vel = -test_vel
dataVel = np.concatenate([dataVel, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_vel = test_vel
dataVel = np.concatenate([dataVel, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_vel = -test_vel
dataVel = np.concatenate([dataVel, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_vel = 0
time.sleep(0.5)
# step input torques
logger.debug('input_torque step test')
axis_ctx.handle.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL
axis_ctx.handle.controller.input_torque = test_torque
dataTq = record_log(data_getter, duration=1.0)
axis_ctx.handle.controller.input_torque = -test_torque
dataTq = np.concatenate([dataTq, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_torque = test_torque
dataTq = np.concatenate([dataTq, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_torque = -test_torque
dataTq = np.concatenate([dataTq, record_log(data_getter, duration=1.0)])
axis_ctx.handle.controller.input_torque = 0
time.sleep(0.5)
# did we pass?
test_assert_no_error(axis_ctx)
axis_ctx.handle.requested_state=1
if __name__ == '__main__':
test_runner.run([
TestClosedLoopControl(),
TestRegenProtection(),
TestVelLimitInTorqueControl()
TestVelLimitInTorqueControl(),
TestTorqueLimit()
])