mirror of
https://github.com/rene-dev/stmbl.git
synced 2026-09-24 00:20:26 +08:00
rexroth motsim
This commit is contained in:
crinq
+176
-134
@@ -1,107 +1,121 @@
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encm0.calc_time <= encm0.calc_time = 0.000001
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encm0.enable <= encm0.enable = 1.000000
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encm0.pos <= encm0.pos = -1.319751
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encm0.error <= encm0.error = 7.000000
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sim0.calc_time <= sim0.calc_time = 0.000005
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sim0.amp <= sim0.amp = 1.000000
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sim0.freq <= sim0.freq = 6.283185
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sim0.sin <= sim0.sin = 0.295820
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sim0.msin <= sim0.msin = 0.307800
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sim0.square <= sim0.square = 0.999970
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sim0.vel <= sim0.vel = 0.338030
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adc0.calc_time <= adc0.calc_time = 0.000012
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adc0.sin <= adc0.sin = 1.034309
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adc0.cos <= adc0.cos = -0.032400
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adc0.sin3 <= adc0.sin3 = 1.033684
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adc0.cos3 <= adc0.cos3 = -0.031800
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adc0.res_en <= adc0.res_en = 0.000000
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adc0.sin_gain <= conf0.sin_gain = 0.000151
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adc0.cos_gain <= conf0.cos_gain = 0.000150
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adc0.sin_offset <= conf0.sin_offset = -17600.000007
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adc0.cos_offset <= conf0.cos_offset = -17661.000087
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enc10.calc_time <= enc10.calc_time = 0.000005
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enc10.res <= conf0.fb_res = 512.000000
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enc10.ires <= enc10.ires = 1024.000000
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enc10.count <= enc10.count = 6.000000
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enc10.pos <= enc10.pos = 0.073631
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enc10.ipos <= enc10.ipos = 0.067746
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enc10.sin <= adc0.sin = 1.033419
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enc10.cos <= adc0.cos = -0.031893
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sim0.calc_time <= sim0.calc_time = 0.000003
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sim0.amp <= sim0.amp = 3.000000
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sim0.freq <= sim0.freq = 0.000000
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sim0.sin <= sim0.sin = 0.000000
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sim0.msin <= sim0.msin = 0.000000
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sim0.square <= sim0.square = 2.999940
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sim0.vel <= sim0.vel = 0.000000
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sim0.res <= sim0.res = 100000.000077
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rev0.calc_time <= rev0.calc_time = 0.000000
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rev0.in <= rev0.in = 0.000000
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rev0.in <= sim0.vel = 0.000000
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rev0.out <= rev0.out = 0.000000
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rev0.rev <= conf0.cmd_rev = 0.000000
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rev1.calc_time <= rev1.calc_time = 0.000000
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rev1.in <= encm0.pos = -1.319751
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rev1.out <= rev1.out = -1.319751
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rev1.rev <= conf0.fb_rev = 0.000000
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cauto0.calc_time <= cauto0.calc_time = 0.000005
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rev1.in <= enc10.ipos = 0.067740
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rev1.out <= rev1.out = -0.067746
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rev1.rev <= conf0.fb_rev = 1.000000
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cauto0.calc_time <= cauto0.calc_time = 0.000002
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cauto0.i_q <= cauto0.i_q = 0.000000
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cauto0.i_d <= cauto0.i_d = 0.000000
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cauto0.magpos <= cauto0.magpos = 0.000000
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cauto0.magpos <= cauto0.magpos = -0.000053
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cauto0.start <= cauto0.start = 1.000000
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cauto0.ready <= cauto0.ready = 1.000000
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cauto0.start_offset <= cauto0.start_offset = 0.000000
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cauto0.offset <= cauto0.offset = -1.319751
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cauto0.fb_in <= rev1.out = -1.319751
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cauto0.fb_out <= cauto0.fb_out = 0.000000
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cauto0.pole_count <= conf0.pole_count = 2.000000
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cauto0.offset <= cauto0.offset = -0.067746
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cauto0.fb_in <= rev1.out = -0.067740
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cauto0.fb_out <= cauto0.fb_out = 0.000005
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cauto0.pole_count <= conf0.pole_count = 3.000000
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cauto0.cur <= cauto0.cur = 1.000000
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cauto0.time <= cauto0.time = 0.500000
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pderiv0.calc_time <= pderiv0.calc_time = 0.000004
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pderiv0.calc_time <= pderiv0.calc_time = 0.000003
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pderiv0.in <= net0.cmd = 0.000000
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pderiv0.in_lp <= pderiv0.in_lp = 1.000000
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pderiv0.out <= pderiv0.out = 0.000000
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pderiv0.out_lp <= pderiv0.out_lp = 1.000000
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pderiv0.vel_max <= conf0.max_vel = 837.758006
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pderiv0.acc_max <= conf0.max_acc = 418879.008777
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pderiv0.vel_max <= conf0.max_vel = 942.477860
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pderiv0.acc_max <= conf0.max_acc = 18849.556207
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pderiv0.res <= pderiv0.res = 100000.000077
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pderiv1.calc_time <= pderiv1.calc_time = 0.000004
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pderiv1.in <= net0.fb = 0.000000
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pderiv1.calc_time <= pderiv1.calc_time = 0.000003
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pderiv1.in <= net0.fb = 0.000011
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pderiv1.in_lp <= pderiv1.in_lp = 1.000000
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pderiv1.out <= pderiv1.out = 0.000000
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pderiv1.out <= pderiv1.out = -0.028610
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pderiv1.out_lp <= pderiv1.out_lp = 1.000000
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pderiv1.vel_max <= conf0.max_vel = 837.758006
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pderiv1.acc_max <= conf0.max_acc = 418879.008777
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pderiv1.res <= conf0.fb_res = 16384.000007
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pid0.calc_time <= pid0.calc_time = 0.000021
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pderiv1.vel_max <= conf0.max_vel = 942.477860
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pderiv1.acc_max <= conf0.max_acc = 18849.556207
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pderiv1.res <= pderiv1.res = 524288.000777
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pid0.calc_time <= pid0.calc_time = 0.000015
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pid0.pos_ext_cmd <= net0.cmd = 0.000000
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pid0.pos_fb <= net0.fb = 0.000000
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pid0.pos_error <= pid0.pos_error = 0.000000
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pid0.pos_fb <= net0.fb = 0.000011
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pid0.pos_error <= pid0.pos_error = -0.000005
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pid0.vel_ext_cmd <= net0.cmd_d = 0.000000
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pid0.vel_fb <= net0.fb_d = 0.000000
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pid0.vel_cmd <= pid0.vel_cmd = 0.000000
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pid0.vel_error <= pid0.vel_error = 0.000000
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pid0.vel_fb <= net0.fb_d = -0.028610
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pid0.vel_cmd <= pid0.vel_cmd = -0.000095
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pid0.vel_error <= pid0.vel_error = 0.000013
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pid0.acc_ext_cmd <= pid0.acc_ext_cmd = 0.000000
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pid0.acc_cmd <= pid0.acc_cmd = 0.000000
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pid0.acc_cmd <= pid0.acc_cmd = -124.725018
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pid0.force_ext_cmd <= pid0.force_ext_cmd = 0.000000
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pid0.force_cmd <= pid0.force_cmd = -0.087823
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pid0.force_cmd <= pid0.force_cmd = 0.018561
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pid0.cur_ext_cmd <= cauto0.i_q = 0.000000
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pid0.cur_cmd <= pid0.cur_cmd = -0.396979
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pid0.cur_cmd <= pid0.cur_cmd = 0.064262
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pid0.enable <= cauto0.ready = 1.000000
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pid0.pos_en <= pid0.pos_en = 1.000000
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pid0.vel_en <= pid0.vel_en = 1.000000
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pid0.acc_en <= pid0.acc_en = 1.000000
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pid0.force_en <= cauto0.ready = 1.000000
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pid0.cur_en <= pid0.cur_en = 1.000000
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pid0.mot_r <= conf0.r = 1.500000
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pid0.mot_j <= conf0.j = 0.000500
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pid0.mot_km <= conf0.km = 0.220000
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pid0.mot_r <= conf0.r = 7.500000
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pid0.mot_j <= conf0.j = 0.000013
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pid0.mot_km <= conf0.km = 0.289999
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pid0.mot_fr <= pid0.mot_fr = 30.000000
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pid0.mot_fd <= pid0.mot_fd = 30.000000
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pid0.mot_fl <= pid0.mot_fl = 30.000000
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pid0.pos_p <= conf0.pos_p = 50.000000
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pid0.pos_p <= pid0.pos_p = 85.000000
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pid0.pos_lp <= pid0.pos_lp = 4000.000007
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pid0.vel_p <= pid0.vel_p = 1.000000
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pid0.vel_lp <= pid0.vel_lp = 4000.000007
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pid0.vel_ff <= pid0.vel_ff = 1.000000
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pid0.acc_p <= conf0.acc_p = 0.150000
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pid0.acc_p <= pid0.acc_p = 0.029999
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pid0.acc_lp <= pid0.acc_lp = 4000.000007
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pid0.acc_pi <= conf0.acc_pi = 50.000000
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pid0.acc_pi <= pid0.acc_pi = 50.000000
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pid0.acc_ff <= pid0.acc_ff = 1.000000
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pid0.force_p <= pid0.force_p = 1.000000
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pid0.force_lp <= pid0.force_lp = 4000.000007
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pid0.force_ff <= pid0.force_ff = 1.000000
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pid0.cur_ff <= pid0.cur_ff = 1.000000
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pid0.volt <= net0.vlt = 0.417564
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pid0.induction <= pid0.induction = 0.000000
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pid0.max_vel <= conf0.max_vel = 837.758006
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pid0.max_acc <= conf0.max_acc = 418879.008777
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pid0.max_force <= conf0.max_force = 2.000000
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pid0.max_cur <= conf0.max_cur = 6.000000
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pid0.volt <= net0.vlt = 48.541840
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pid0.induction <= pid0.induction = 0.008296
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pid0.max_vel <= conf0.max_vel = 942.477860
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pid0.max_acc <= conf0.max_acc = 18849.556207
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pid0.max_force <= conf0.max_force = 1.800000
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pid0.max_cur <= conf0.max_cur = 6.800000
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pid0.max_volt <= pid0.max_volt = 400.000000
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pid0.max_pwm <= pid0.max_pwm = 0.950000
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pid0.vel_min <= pid0.vel_min = -1.898018
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pid0.vel_max <= pid0.vel_max = 1.898018
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pid0.acc_min <= pid0.acc_min = -232.722426
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pid0.acc_max <= pid0.acc_max = 232.722426
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pid0.force_min <= pid0.force_min = -0.116361
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pid0.force_max <= pid0.force_max = 0.116361
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pid0.cur_min <= pid0.cur_min = -0.528914
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pid0.cur_max <= pid0.cur_max = 0.528914
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pid0.vel_min <= pid0.vel_min = -167.385642
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pid0.vel_max <= pid0.vel_max = 167.385642
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pid0.acc_min <= pid0.acc_min = -18849.556207
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pid0.acc_max <= pid0.acc_max = 18849.556207
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pid0.force_min <= pid0.force_min = -1.800000
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pid0.force_max <= pid0.force_max = 1.800000
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pid0.cur_min <= pid0.cur_min = -6.800000
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pid0.cur_max <= pid0.cur_max = 6.800000
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pid0.volt_min <= pid0.volt_min = 0.000000
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pid0.volt_max <= pid0.volt_max = 0.000000
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pid0.pwm_min <= pid0.pwm_min = 0.000000
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@@ -114,68 +128,95 @@ pid0.saturated <= pid0.saturated = 0.000000
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rev2.calc_time <= rev2.calc_time = 0.000000
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rev2.in <= cauto0.magpos = 0.000000
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rev2.out <= rev2.out = 0.000000
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rev2.rev <= conf0.out_rev = 1.000000
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cur0.calc_time <= cur0.calc_time = 0.000015
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cur0.id <= cauto0.i_d = 0.000000
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cur0.iq <= pid0.cur_cmd = -0.396685
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cur0.ia <= cur0.ia = 0.000000
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cur0.ib <= cur0.ib = -0.396685
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cur0.iu <= cur0.iu = 0.000000
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cur0.iv <= cur0.iv = -0.343540
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cur0.iw <= cur0.iw = 0.343554
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cur0.i_u <= cur0.i_u = -0.000000
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cur0.i_v <= cur0.i_v = -0.264454
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cur0.i_w <= cur0.i_w = 0.264456
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cur0.u <= cur0.u = 0.155678
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cur0.v <= cur0.v = 0.011650
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cur0.w <= cur0.w = 0.405914
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cur0.magpos <= rev2.out = 0.000000
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cur0.r <= conf0.r = 1.500000
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cur0.l <= conf0.l = 0.002499
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cur0.freq <= cur0.freq = 5000.000007
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cur0.volt <= net0.vlt = 0.417564
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cur0.cor_volt <= cur0.cor_volt = 0.002421
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cur0.induction <= pid0.induction = 0.000000
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cur0.ind_p <= cur0.ind_p = -1.000000
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cur0.pwm_max <= cur0.pwm_max = 0.950000
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cur0.cur_max <= conf0.max_cur = 6.000000
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cur0.p <= cur0.p = 3.125000
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cur0.ff <= cur0.ff = 1.000000
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cur0.lp <= conf0.cur_lp = 0.500000
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cur0.cor_p <= cur0.cor_p = 1.000000
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rev2.rev <= conf0.out_rev = 0.000000
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curpid0.calc_time <= curpid0.calc_time = 0.000004
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curpid0.id_cmd <= curpid0.id_cmd = 0.000000
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curpid0.iq_cmd <= pid0.cur_cmd = 0.064019
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curpid0.id_fb <= pmsm0.id = -0.000000
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curpid0.iq_fb <= curpid0.iq_fb = 0.000000
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curpid0.ud <= curpid0.ud = -0.000001
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curpid0.uq <= curpid0.uq = 0.607253
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curpid0.volt <= net0.vlt = 48.541840
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curpid0.rd <= conf0.r = 7.500000
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curpid0.rq <= conf0.r = 7.500000
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curpid0.ld <= conf0.l = 0.008000
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curpid0.lq <= conf0.l = 0.008000
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curpid0.ff <= curpid0.ff = 1.000000
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curpid0.kp <= curpid0.kp = 0.050000
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curpid0.ki <= curpid0.ki = 0.000000
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curpid0.id_error <= curpid0.id_error = -0.000000
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curpid0.iq_error <= curpid0.iq_error = 0.064117
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pmsm0.calc_time <= pmsm0.calc_time = 0.000002
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pmsm0.km <= conf0.km = 0.289999
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pmsm0.r <= conf0.r = 7.500000
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pmsm0.ld <= conf0.l = 0.008000
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pmsm0.lq <= conf0.l = 0.008000
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pmsm0.polecount <= pmsm0.polecount = 1.000000
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pmsm0.vel <= net0.fb_d = 0.000000
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pmsm0.ud <= curpid0.ud = -0.000001
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pmsm0.uq <= curpid0.uq = 0.607538
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pmsm0.id <= pmsm0.id = 0.000000
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pmsm0.iq <= pmsm0.iq = 0.080987
|
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pmsm0.psi_d <= pmsm0.psi_d = 0.289999
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pmsm0.psi_q <= pmsm0.psi_q = 0.000650
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pmsm0.torque <= pmsm0.torque = 0.035169
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mot0.calc_time <= mot0.calc_time = 0.000003
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mot0.torque <= pmsm0.torque = 0.035420
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mot0.mr <= mot0.mr = 0.001000
|
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mot0.md <= mot0.md = 0.001000
|
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mot0.ml <= mot0.ml = 0.000000
|
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mot0.j <= conf0.j = 0.000013
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mot0.real_pos <= net0.fb = 0.000000
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mot0.kp <= mot0.kp = 1.000000
|
||||
mot0.ki <= mot0.ki = 1.000000
|
||||
mot0.acc <= mot0.acc = -14.667976
|
||||
mot0.vel <= mot0.vel = 33.804880
|
||||
mot0.pos <= mot0.pos = 40.082120
|
||||
mot0.pos_error <= mot0.pos_error = -33.798924
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||||
mot0.jerk <= mot0.jerk = -0.797621
|
||||
idq0.calc_time <= idq0.calc_time = 0.000006
|
||||
idq0.ud <= curpid0.ud = 0.000000
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||||
idq0.uq <= curpid0.uq = 0.607578
|
||||
idq0.pos <= cauto0.fb_out = 0.000005
|
||||
idq0.polecount <= conf0.pole_count = 3.000000
|
||||
idq0.u <= idq0.u = 24.270898
|
||||
idq0.v <= idq0.v = 24.796202
|
||||
idq0.w <= idq0.w = 23.743232
|
||||
idq0.svm <= idq0.svm = 0.000000
|
||||
idq0.volt <= net0.vlt = 48.541840
|
||||
pwm2uart0.calc_time <= pwm2uart0.calc_time = 0.000004
|
||||
pwm2uart0.u <= cur0.u = 0.209993
|
||||
pwm2uart0.v <= cur0.v = 0.011650
|
||||
pwm2uart0.w <= cur0.w = 0.405914
|
||||
pwm2uart0.uout <= pwm2uart0.uout = 603.000000
|
||||
pwm2uart0.vout <= pwm2uart0.vout = 33.000000
|
||||
pwm2uart0.wout <= pwm2uart0.wout = 1080.000000
|
||||
pwm2uart0.u <= idq0.u = 24.270908
|
||||
pwm2uart0.v <= idq0.v = 24.796298
|
||||
pwm2uart0.w <= idq0.w = 23.745644
|
||||
pwm2uart0.uout <= pwm2uart0.uout = 600.000000
|
||||
pwm2uart0.vout <= pwm2uart0.vout = 612.000000
|
||||
pwm2uart0.wout <= pwm2uart0.wout = 586.000000
|
||||
pwm2uart0.enable <= pwm2uart0.enable = 0.900000
|
||||
pwm2uart0.volt <= net0.vlt = 0.417564
|
||||
pwm2uart0.volt <= net0.vlt = 48.541840
|
||||
pwm2uart0.pwm_max <= pwm2uart0.pwm_max = 0.900000
|
||||
avg0.calc_time <= avg0.calc_time = 0.000000
|
||||
avg0.in <= pid0.pos_error = 0.000000
|
||||
avg0.in <= pid0.pos_error = 0.000005
|
||||
avg0.ac <= avg0.ac = 0.000099
|
||||
avg0.out <= avg0.out = -0.000000
|
||||
avg0.absout <= avg0.absout = 0.000001
|
||||
term0.calc_time <= term0.calc_time = 0.000001
|
||||
avg0.out <= avg0.out = 0.000000
|
||||
avg0.absout <= avg0.absout = 0.000006
|
||||
term0.calc_time <= term0.calc_time = 0.000000
|
||||
term0.wave0 <= net0.cmd = 0.000000
|
||||
term0.gain0 <= term0.gain0 = 10.000000
|
||||
term0.gain0 <= term0.gain0 = 20.000000
|
||||
term0.offset0 <= term0.offset0 = 0.000000
|
||||
term0.wave1 <= net0.fb = 0.000000
|
||||
term0.gain1 <= term0.gain1 = 10.000000
|
||||
term0.gain1 <= term0.gain1 = 20.000000
|
||||
term0.offset1 <= term0.offset1 = 0.000000
|
||||
term0.wave2 <= net0.cmd_d = 0.000000
|
||||
term0.gain2 <= term0.gain2 = 1.000000
|
||||
term0.wave2 <= net0.fb_d = 0.000000
|
||||
term0.gain2 <= term0.gain2 = 0.100000
|
||||
term0.offset2 <= term0.offset2 = 0.000000
|
||||
term0.wave3 <= net0.fb_d = 0.000000
|
||||
term0.gain3 <= term0.gain3 = 1.000000
|
||||
term0.wave3 <= enc10.pos = 0.073631
|
||||
term0.gain3 <= term0.gain3 = 500.000000
|
||||
term0.offset3 <= term0.offset3 = 0.000000
|
||||
term0.wave4 <= term0.wave4 = 0.000000
|
||||
term0.gain4 <= term0.gain4 = 10.000000
|
||||
term0.wave4 <= pid0.pos_error = 0.000005
|
||||
term0.gain4 <= term0.gain4 = 5000.000007
|
||||
term0.offset4 <= term0.offset4 = 0.000000
|
||||
term0.wave5 <= term0.wave5 = 0.000000
|
||||
term0.gain5 <= term0.gain5 = 10.000000
|
||||
term0.wave5 <= enc10.pos = 0.073631
|
||||
term0.gain5 <= term0.gain5 = 200.000000
|
||||
term0.offset5 <= term0.offset5 = 0.000000
|
||||
term0.wave6 <= term0.wave6 = 0.000000
|
||||
term0.gain6 <= term0.gain6 = 10.000000
|
||||
@@ -190,36 +231,37 @@ led0.r <= cauto0.start = 1.000000
|
||||
led0.g <= cauto0.ready = 1.000000
|
||||
net0.enable <= net0.enable = 1.000000
|
||||
net0.cmd <= rev0.out = 0.000000
|
||||
net0.fb <= cauto0.fb_out = 0.000000
|
||||
net0.fb <= cauto0.fb_out = -0.000005
|
||||
net0.cmd_d <= pderiv0.out = 0.000000
|
||||
net0.fb_d <= pderiv1.out = 0.000000
|
||||
net0.amp <= net0.amp = 0.071397
|
||||
net0.vlt <= net0.vlt = 0.417564
|
||||
net0.tmp <= net0.tmp = 22.186250
|
||||
net0.rt_calc_time <= net0.rt_calc_time = 0.000078
|
||||
conf0.r <= conf0.r = 1.500000
|
||||
conf0.l <= conf0.l = 0.002499
|
||||
conf0.j <= conf0.j = 0.000500
|
||||
conf0.km <= conf0.km = 0.220000
|
||||
conf0.pole_count <= conf0.pole_count = 2.000000
|
||||
net0.amp <= net0.amp = 0.026084
|
||||
net0.vlt <= net0.vlt = 48.541840
|
||||
net0.tmp <= net0.tmp = 37.432736
|
||||
net0.rt_calc_time <= net0.rt_calc_time = 0.000084
|
||||
conf0.r <= conf0.r = 7.500000
|
||||
conf0.l <= conf0.l = 0.008000
|
||||
conf0.j <= conf0.j = 0.000013
|
||||
conf0.km <= conf0.km = 0.289999
|
||||
conf0.pole_count <= conf0.pole_count = 3.000000
|
||||
conf0.fb_pole_count <= conf0.fb_pole_count = 0.000000
|
||||
conf0.fb_offset <= conf0.fb_offset = 0.000000
|
||||
conf0.pos_p <= conf0.pos_p = 50.000000
|
||||
conf0.acc_p <= conf0.acc_p = 0.150000
|
||||
conf0.pos_p <= conf0.pos_p = 80.000000
|
||||
conf0.acc_p <= conf0.acc_p = 0.050000
|
||||
conf0.acc_pi <= conf0.acc_pi = 50.000000
|
||||
conf0.cur_lp <= conf0.cur_lp = 0.500000
|
||||
conf0.max_vel <= conf0.max_vel = 837.758006
|
||||
conf0.max_acc <= conf0.max_acc = 418879.008777
|
||||
conf0.max_force <= conf0.max_force = 2.000000
|
||||
conf0.max_cur <= conf0.max_cur = 6.000000
|
||||
conf0.fb_type <= conf0.fb_type = 0.000000
|
||||
conf0.cmd_type <= conf0.cmd_type = 1.000000
|
||||
conf0.fb_rev <= conf0.fb_rev = 0.000000
|
||||
conf0.cur_p <= conf0.cur_p = 0.000000
|
||||
conf0.cur_ff <= conf0.cur_ff = 1.000000
|
||||
conf0.max_vel <= conf0.max_vel = 942.477860
|
||||
conf0.max_acc <= conf0.max_acc = 18849.556207
|
||||
conf0.max_force <= conf0.max_force = 1.800000
|
||||
conf0.max_cur <= conf0.max_cur = 6.800000
|
||||
conf0.fb_type <= conf0.fb_type = 6.000000
|
||||
conf0.cmd_type <= conf0.cmd_type = 0.000000
|
||||
conf0.fb_rev <= conf0.fb_rev = 1.000000
|
||||
conf0.cmd_rev <= conf0.cmd_rev = 0.000000
|
||||
conf0.out_rev <= conf0.out_rev = 1.000000
|
||||
conf0.fb_res <= conf0.fb_res = 16384.000007
|
||||
conf0.out_rev <= conf0.out_rev = 0.000000
|
||||
conf0.fb_res <= conf0.fb_res = 512.000000
|
||||
conf0.cmd_res <= conf0.cmd_res = 2000.000000
|
||||
conf0.sin_offset <= conf0.sin_offset = -17371.000027
|
||||
conf0.sin_offset <= conf0.sin_offset = -17600.000007
|
||||
conf0.cos_offset <= conf0.cos_offset = -17661.000087
|
||||
conf0.sin_gain <= conf0.sin_gain = 0.000099
|
||||
conf0.cos_gain <= conf0.cos_gain = 0.000099
|
||||
conf0.sin_gain <= conf0.sin_gain = 0.000151
|
||||
conf0.cos_gain <= conf0.cos_gain = 0.000150
|
||||
|
||||
@@ -0,0 +1,70 @@
|
||||
COMP(curpid);
|
||||
|
||||
HAL_PIN(id_cmd) = 0.0;
|
||||
HAL_PIN(iq_cmd) = 0.0;
|
||||
|
||||
HAL_PIN(id_fb) = 0.0;
|
||||
HAL_PIN(iq_fb) = 0.0;
|
||||
|
||||
HAL_PIN(ud) = 0.0;
|
||||
HAL_PIN(uq) = 0.0;
|
||||
|
||||
HAL_PIN(volt) = 0.0;
|
||||
|
||||
HAL_PIN(rd) = 0.0;
|
||||
HAL_PIN(rq) = 0.0;
|
||||
HAL_PIN(ld) = 0.0;
|
||||
HAL_PIN(lq) = 0.0;
|
||||
|
||||
HAL_PIN(ff) = 0.0;
|
||||
HAL_PIN(kp) = 0.0;
|
||||
HAL_PIN(ki) = 0.0;
|
||||
|
||||
HAL_PIN(id_error) = 0.0;
|
||||
HAL_PIN(iq_error) = 0.0;
|
||||
|
||||
MEM(float id_error_sum) = 0.0;
|
||||
MEM(float iq_error_sum) = 0.0;
|
||||
|
||||
RT(
|
||||
float rd = MAX(PIN(rd), 0.1);
|
||||
float rq = MAX(PIN(rq), 0.1);
|
||||
float ld = MAX(PIN(ld), 0.001);
|
||||
float lq = MAX(PIN(ld), 0.001);
|
||||
float volt = MAX(PIN(volt), 0.1);
|
||||
|
||||
float ff = PIN(ff);
|
||||
float kpd = ld * PIN(kp) / period;
|
||||
float kpq = lq * PIN(kp) / period;
|
||||
float kid = rd * PIN(ki) / period;
|
||||
float kiq = rq * PIN(ki) / period;
|
||||
|
||||
float idc = PIN(id_cmd);
|
||||
float iqc = PIN(iq_cmd);
|
||||
|
||||
float id = PIN(id_fb);
|
||||
float iq = PIN(id_fb);
|
||||
|
||||
float id_error = (idc - id);
|
||||
float iq_error = (iqc - iq);
|
||||
|
||||
if(kid > 0.0){
|
||||
id_error_sum += id_error;
|
||||
iq_error_sum += iq_error;
|
||||
}
|
||||
else{
|
||||
id_error_sum = 0.0;
|
||||
iq_error_sum = 0.0;
|
||||
}
|
||||
|
||||
float ud = CLAMP(ff * rd * idc + kpd * id_error + kid * id_error_sum, -volt / 2.0, volt / 2.0);
|
||||
float uq = CLAMP(ff * rq * iqc + kpq * iq_error + kiq * iq_error_sum, -volt / 2.0, volt / 2.0);
|
||||
|
||||
PIN(ud) = ud;
|
||||
PIN(uq) = uq;
|
||||
|
||||
PIN(id_error) = id_error;
|
||||
PIN(iq_error) = iq_error;
|
||||
);
|
||||
|
||||
ENDCOMP;
|
||||
+4
-3
@@ -186,10 +186,11 @@ void set_rexroth(){
|
||||
set_hal_pin("conf0.j", 0.000013);//data
|
||||
set_hal_pin("conf0.km", 0.29);//data
|
||||
|
||||
set_hal_pin("conf0.pos_p", 80.0);
|
||||
set_hal_pin("conf0.acc_p", 0.15);
|
||||
set_hal_pin("conf0.pos_p", 85.0);
|
||||
set_hal_pin("conf0.acc_p", 0.03);
|
||||
set_hal_pin("conf0.acc_pi", 50.0);
|
||||
set_hal_pin("conf0.cur_lp", 0.4);
|
||||
set_hal_pin("conf0.cur_p", 0.05);
|
||||
set_hal_pin("conf0.cur_ff", 1.0);
|
||||
set_hal_pin("enc10.res", 512.0);
|
||||
set_fb_sincos();
|
||||
}
|
||||
|
||||
+51
-18
@@ -134,9 +134,9 @@ int main(void)
|
||||
setup();
|
||||
|
||||
#include "comps/adc.comp"
|
||||
//#include "comps/enc1.comp"
|
||||
#include "comps/enc1.comp"
|
||||
//#include "comps/res.comp"
|
||||
#include "comps/encm.comp"
|
||||
//#include "comps/encm.comp"
|
||||
#include "comps/sim.comp"
|
||||
|
||||
//#include "comps/mux.comp"
|
||||
@@ -155,7 +155,10 @@ int main(void)
|
||||
|
||||
#include "comps/rev.comp"
|
||||
|
||||
#include "comps/cur.comp"
|
||||
#include "comps/curpid.comp"
|
||||
#include "comps/pmsm.comp"
|
||||
#include "comps/mot.comp"
|
||||
#include "comps/idq.comp"
|
||||
|
||||
#include "comps/pwm2uart.comp"
|
||||
|
||||
@@ -197,7 +200,8 @@ int main(void)
|
||||
HAL_PIN(pos_p) = 0.0;
|
||||
HAL_PIN(acc_p) = 0.0;
|
||||
HAL_PIN(acc_pi) = 0.0;
|
||||
HAL_PIN(cur_lp) = 0.0;
|
||||
HAL_PIN(cur_p) = 0.0;
|
||||
HAL_PIN(cur_ff) = 1.0;
|
||||
HAL_PIN(max_vel) = 0.0;
|
||||
HAL_PIN(max_acc) = 0.0;
|
||||
HAL_PIN(max_force) = 0.0;
|
||||
@@ -214,10 +218,10 @@ int main(void)
|
||||
HAL_PIN(sin_gain) = 0.0001515;
|
||||
HAL_PIN(cos_gain) = 0.00015;
|
||||
|
||||
g_amp = map_hal_pin("net0.amp");
|
||||
g_vlt = map_hal_pin("net0.vlt");
|
||||
g_tmp = map_hal_pin("net0.tmp");
|
||||
rt_time = map_hal_pin("net0.rt_calc_time");
|
||||
g_amp_hal_pin = map_hal_pin("net0.amp");
|
||||
g_vlt_hal_pin = map_hal_pin("net0.vlt");
|
||||
g_tmp_hal_pin = map_hal_pin("net0.tmp");
|
||||
rt_time_hal_pin = map_hal_pin("net0.rt_calc_time");
|
||||
|
||||
for(int i = 0; i < hal.init_func_count; i++){
|
||||
hal.init[i]();
|
||||
@@ -227,25 +231,54 @@ int main(void)
|
||||
|
||||
//set_e240();
|
||||
//set_bergerlahr();//pid2: ok
|
||||
set_mitsubishi();//pid2: ok
|
||||
//set_mitsubishi();//pid2: ok
|
||||
//set_festo();
|
||||
//set_manutec();
|
||||
//set_rexroth();//pid2: ok
|
||||
//link_hal_pins("enc10.ipos", "rev1.in");
|
||||
|
||||
//set_hal_pin("res0.reverse", 0.0);
|
||||
set_rexroth();//pid2: ok
|
||||
//set_bosch1();//pid2: ok
|
||||
//set_bosch4();//pid2: ok
|
||||
//set_sanyo();//pid2: ok
|
||||
//set_br();
|
||||
|
||||
//set_hal_pin("enc0.iquad_en1", 1.0);
|
||||
//set_hal_pin("enc0.quad_en1", 1.0);
|
||||
//set_hal_pin("enc0.iquad_en1", 1.0);
|
||||
|
||||
//link_hal_pins("pderiv1.out2", "net0.fb_d");
|
||||
set_cmd_sin();
|
||||
|
||||
link_hal_pins("cauto0.i_d", "curpid0.id_cmd");
|
||||
link_hal_pins("pid0.cur_cmd", "curpid0.iq_cmd");
|
||||
link_hal_pins("net0.vlt", "curpid0.volt");
|
||||
link_hal_pins("conf0.r", "curpid0.rd");
|
||||
link_hal_pins("conf0.r", "curpid0.rq");
|
||||
link_hal_pins("conf0.l", "curpid0.ld");
|
||||
link_hal_pins("conf0.l", "curpid0.lq");
|
||||
link_hal_pins("conf0.cur_ff", "curpid0.ff");
|
||||
link_hal_pins("conf0.cur_p", "curpid0.kp");
|
||||
|
||||
link_hal_pins("curpid0.ud", "pmsm0.ud");
|
||||
link_hal_pins("curpid0.uq", "pmsm0.uq");
|
||||
link_hal_pins("net0.fb_d", "pmsm0.vel");
|
||||
link_hal_pins("conf0.r", "pmsm0.r");
|
||||
link_hal_pins("conf0.l", "pmsm0.ld");
|
||||
link_hal_pins("conf0.l", "pmsm0.lq");
|
||||
link_hal_pins("conf0.km", "pmsm0.km");
|
||||
link_hal_pins("conf0.polecount", "pmsm0.polecount");
|
||||
link_hal_pins("pmsm0.id", "curpid0.id_fb");
|
||||
link_hal_pins("pmsm0.iq", "curpid0.id_fq");
|
||||
link_hal_pins("pmsm0.torque", "mot0.torque");
|
||||
link_hal_pins("conf0.j", "mot0.j");
|
||||
link_hal_pins("net0.fb", "mot0.real_pos");
|
||||
set_hal_pin("mot0.kp", 0.01);
|
||||
link_hal_pins("curpid0.ud", "idq0.ud");
|
||||
link_hal_pins("curpid0.uq", "idq0.uq");
|
||||
link_hal_pins("cauto0.magpos", "idq0.pos");
|
||||
link_hal_pins("conf0.pole_count", "idq0.polecount");
|
||||
link_hal_pins("net0.vlt", "idq0.volt");
|
||||
link_hal_pins("idq0.u", "pwm2uart0.u");
|
||||
link_hal_pins("idq0.v", "pwm2uart0.v");
|
||||
link_hal_pins("idq0.w", "pwm2uart0.w");
|
||||
link_hal_pins("conf0.pole_count", "pmsm0.polecount");
|
||||
set_hal_pin("cauto0.pole_count", 1.0);
|
||||
|
||||
|
||||
|
||||
|
||||
link_hal_pins("pid0.pos_error", "avg0.in");
|
||||
set_hal_pin("avg0.ac", 0.0001);
|
||||
|
||||
Reference in New Issue
Block a user