newpid conf pins, manutec conf

2026-02-06 10:23:58 +08:00 · 2016-11-16 11:42:26 +01:00
parent aad4cc0664
commit bb7ce05a50
11 changed files with 83 additions and 99 deletions
--- a/conf/manutec_r15_0.txt
+++ b/conf/manutec_r15_0.txt
@@ -8,12 +8,12 @@ conf0.out_rev = 0.000000
 conf0.high_motor_temp = 80.000000
 conf0.max_motor_temp = 100.000000
 conf0.phase_time = 0.500000
-conf0.phase_cur = 6.000000
-conf0.max_vel = 104.719757
-conf0.max_acc = 10471.975586
-conf0.max_force = 10.000000
+conf0.phase_cur = 15.000000
+conf0.max_vel = 100.000000
+conf0.max_acc = 10000.000000
+conf0.max_force = 15.000000
 conf0.max_dc_cur = 20.000000
-conf0.max_ac_cur = 20.000000
+conf0.max_ac_cur = 30.000000
 conf0.fb_type = 1.000000
 conf0.fb_polecount = 1.000000
 conf0.fb_offset = 0.000000
@@ -38,14 +38,14 @@ conf0.max_pos_error = 1.570796
 conf0.high_dc_volt = 350.000000
 conf0.low_dc_volt = 12.000000
 conf0.high_hv_temp = 70.000000
-conf0.fan_hv_temp = 60.000000
+conf0.fan_hv_temp = 30.000000
 conf0.fan_core_temp = 450.000000
 conf0.fan_motor_temp = 60.000000
-conf0.p = 0.990000
+conf0.g = 0.990000
 conf0.pos_p = 100.000000
-conf0.vel_p = 1.000000
-conf0.acc_p = 0.300000
-conf0.acc_pi = 50.000000
+conf0.vel_p = 2000.000000
+conf0.vel_i = 10.000000
+conf0.vel_g = 1.000000
 conf0.cur_p = 0.500000
 conf0.cur_i = 0.000000
 conf0.cur_ff = 1.000000
--- a/conf/manutec_r15_1.txt
+++ b/conf/manutec_r15_1.txt
@@ -8,12 +8,12 @@ conf0.out_rev = 0.000000
 conf0.high_motor_temp = 80.000000
 conf0.max_motor_temp = 100.000000
 conf0.phase_time = 0.500000
-conf0.phase_cur = 6.000000
-conf0.max_vel = 104.719757
-conf0.max_acc = 10471.975586
-conf0.max_force = 10.000000
+conf0.phase_cur = 15.000000
+conf0.max_vel = 100.000000
+conf0.max_acc = 10000.000000
+conf0.max_force = 15.000000
 conf0.max_dc_cur = 20.000000
-conf0.max_ac_cur = 20.000000
+conf0.max_ac_cur = 30.000000
 conf0.fb_type = 1.000000
 conf0.fb_polecount = 1.000000
 conf0.fb_offset = 0.000000
@@ -38,14 +38,14 @@ conf0.max_pos_error = 1.570796
 conf0.high_dc_volt = 350.000000
 conf0.low_dc_volt = 12.000000
 conf0.high_hv_temp = 70.000000
-conf0.fan_hv_temp = 60.000000
+conf0.fan_hv_temp = 30.000000
 conf0.fan_core_temp = 450.000000
 conf0.fan_motor_temp = 60.000000
-conf0.p = 0.990000
+conf0.g = 0.990000
 conf0.pos_p = 100.000000
-conf0.vel_p = 1.000000
-conf0.acc_p = 0.300000
-conf0.acc_pi = 50.000000
+conf0.vel_p = 2000.000000
+conf0.vel_i = 10.000000
+conf0.vel_g = 1.000000
 conf0.cur_p = 0.500000
 conf0.cur_i = 0.000000
 conf0.cur_ff = 1.000000
--- a/conf/manutec_r15_2.txt
+++ b/conf/manutec_r15_2.txt
@@ -1,19 +1,19 @@
 conf0.r = 0.400000
 conf0.l = 0.002000
-conf0.j = 0.001000
+conf0.j = 0.000300
 conf0.psi = 0.081000
 conf0.polecount = 3.000000
 conf0.mot_type = 0.000000
 conf0.out_rev = 0.000000
 conf0.high_motor_temp = 80.000000
 conf0.max_motor_temp = 100.000000
-conf0.phase_time = 1.000000
+conf0.phase_time = 0.500000
 conf0.phase_cur = 15.000000
-conf0.max_vel = 104.719757
-conf0.max_acc = 10471.975586
+conf0.max_vel = 100.000000
+conf0.max_acc = 10000.000000
 conf0.max_force = 15.000000
 conf0.max_dc_cur = 20.000000
-conf0.max_ac_cur = 20.000000
+conf0.max_ac_cur = 30.000000
 conf0.fb_type = 1.000000
 conf0.fb_polecount = 1.000000
 conf0.fb_offset = 0.000000
@@ -38,14 +38,14 @@ conf0.max_pos_error = 1.570796
 conf0.high_dc_volt = 350.000000
 conf0.low_dc_volt = 12.000000
 conf0.high_hv_temp = 70.000000
-conf0.fan_hv_temp = 60.000000
+conf0.fan_hv_temp = 30.000000
 conf0.fan_core_temp = 450.000000
 conf0.fan_motor_temp = 60.000000
-conf0.p = 0.990000
-conf0.pos_p = 50.000000
-conf0.vel_p = 1.000000
-conf0.acc_p = 0.300000
-conf0.acc_pi = 50.000000
+conf0.g = 0.990000
+conf0.pos_p = 100.000000
+conf0.vel_p = 2000.000000
+conf0.vel_i = 10.000000
+conf0.vel_g = 1.000000
 conf0.cur_p = 0.500000
 conf0.cur_i = 0.000000
 conf0.cur_ff = 1.000000
--- a/conf/manutec_r15_3.txt
+++ b/conf/manutec_r15_3.txt
@@ -1,17 +1,17 @@
 conf0.r = 0.400000
 conf0.l = 0.002000
-conf0.j = 0.001000
+conf0.j = 0.000100
 conf0.psi = 0.080000
 conf0.polecount = 3.000000
 conf0.mot_type = 0.000000
 conf0.out_rev = 0.000000
 conf0.high_motor_temp = 80.000000
 conf0.max_motor_temp = 100.000000
-conf0.phase_time = 1.000000
+conf0.phase_time = 0.500000
 conf0.phase_cur = 15.000000
-conf0.max_vel = 104.719757
-conf0.max_acc = 10471.975586
-conf0.max_force = 20.000000
+conf0.max_vel = 100.000000
+conf0.max_acc = 10000.000000
+conf0.max_force = 15.000000
 conf0.max_dc_cur = 20.000000
 conf0.max_ac_cur = 30.000000
 conf0.fb_type = 1.000000
@@ -38,16 +38,16 @@ conf0.max_pos_error = 1.570796
 conf0.high_dc_volt = 350.000000
 conf0.low_dc_volt = 12.000000
 conf0.high_hv_temp = 70.000000
-conf0.fan_hv_temp = 60.000000
+conf0.fan_hv_temp = 30.000000
 conf0.fan_core_temp = 450.000000
 conf0.fan_motor_temp = 60.000000
-conf0.p = 0.990000
+conf0.g = 0.990000
 conf0.pos_p = 100.000000
-conf0.vel_p = 1.000000
-conf0.acc_p = 0.300000
-conf0.acc_pi = 50.000000
+conf0.vel_p = 2000.000000
+conf0.vel_i = 10.000000
+conf0.vel_g = 1.000000
 conf0.cur_p = 0.500000
 conf0.cur_i = 0.000000
 conf0.cur_ff = 1.000000
 conf0.cur_ind = 0.900000
-conf0.max_sat = 0.800000
+conf0.max_sat = 0.500000
--- a/conf/manutec_r15_4.txt
+++ b/conf/manutec_r15_4.txt
@@ -1,6 +1,6 @@
 conf0.r = 2.000000
 conf0.l = 0.004000
-conf0.j = 0.000500
+conf0.j = 0.000100
 conf0.psi = 0.080000
 conf0.polecount = 3.000000
 conf0.mot_type = 0.000000
@@ -8,9 +8,9 @@ conf0.out_rev = 0.000000
 conf0.high_motor_temp = 80.000000
 conf0.max_motor_temp = 100.000000
 conf0.phase_time = 0.500000
-conf0.phase_cur = 5.000000
-conf0.max_vel = 104.719757
-conf0.max_acc = 10471.975586
+conf0.phase_cur = 8.000000
+conf0.max_vel = 100.000000
+conf0.max_acc = 10000.000000
 conf0.max_force = 20.000000
 conf0.max_dc_cur = 20.000000
 conf0.max_ac_cur = 16.000000
@@ -38,16 +38,16 @@ conf0.max_pos_error = 1.570796
 conf0.high_dc_volt = 350.000000
 conf0.low_dc_volt = 12.000000
 conf0.high_hv_temp = 70.000000
-conf0.fan_hv_temp = 60.000000
+conf0.fan_hv_temp = 30.000000
 conf0.fan_core_temp = 450.000000
 conf0.fan_motor_temp = 60.000000
-conf0.p = 0.990000
+conf0.g = 0.990000
 conf0.pos_p = 100.000000
-conf0.vel_p = 1.000000
-conf0.acc_p = 0.300000
-conf0.acc_pi = 50.000000
+conf0.vel_p = 2000.000000
+conf0.vel_i = 10.000000
+conf0.vel_g = 1.000000
 conf0.cur_p = 0.500000
 conf0.cur_i = 0.000000
 conf0.cur_ff = 1.000000
 conf0.cur_ind = 0.900000
-conf0.max_sat = 0.800000
+conf0.max_sat = 0.500000
--- a/conf/manutec_r15_5.txt
+++ b/conf/manutec_r15_5.txt
@@ -1,6 +1,6 @@
 conf0.r = 6.000000
 conf0.l = 0.009300
-conf0.j = 0.000100
+conf0.j = 0.000050
 conf0.psi = 0.074000
 conf0.polecount = 3.000000
 conf0.mot_type = 0.000000
@@ -9,8 +9,8 @@ conf0.high_motor_temp = 80.000000
 conf0.max_motor_temp = 100.000000
 conf0.phase_time = 0.500000
 conf0.phase_cur = 4.000000
-conf0.max_vel = 104.719757
-conf0.max_acc = 10471.975586
+conf0.max_vel = 100.000000
+conf0.max_acc = 10000.000000
 conf0.max_force = 20.000000
 conf0.max_dc_cur = 15.000000
 conf0.max_ac_cur = 12.000000
@@ -38,16 +38,16 @@ conf0.max_pos_error = 1.570796
 conf0.high_dc_volt = 350.000000
 conf0.low_dc_volt = 12.000000
 conf0.high_hv_temp = 70.000000
-conf0.fan_hv_temp = 60.000000
+conf0.fan_hv_temp = 30.000000
 conf0.fan_core_temp = 450.000000
 conf0.fan_motor_temp = 60.000000
-conf0.p = 0.990000
+conf0.g = 0.990000
 conf0.pos_p = 100.000000
-conf0.vel_p = 1.000000
-conf0.acc_p = 0.300000
-conf0.acc_pi = 50.000000
+conf0.vel_p = 2000.000000
+conf0.vel_i = 10.000000
+conf0.vel_g = 1.000000
 conf0.cur_p = 0.500000
 conf0.cur_i = 0.000000
 conf0.cur_ff = 1.000000
 conf0.cur_ind = 0.900000
-conf0.max_sat = 0.800000
+conf0.max_sat = 0.500000
--- a/conf/manutec_r15_6.txt
+++ b/conf/manutec_r15_6.txt
@@ -1,6 +1,6 @@
 conf0.r = 13.000000
 conf0.l = 0.012000
-conf0.j = 0.000100
+conf0.j = 0.000050
 conf0.psi = 0.074000
 conf0.polecount = 3.000000
 conf0.mot_type = 0.000000
@@ -9,8 +9,8 @@ conf0.high_motor_temp = 80.000000
 conf0.max_motor_temp = 100.000000
 conf0.phase_time = 0.500000
 conf0.phase_cur = 3.000000
-conf0.max_vel = 104.719757
-conf0.max_acc = 10471.975586
+conf0.max_vel = 100.000000
+conf0.max_acc = 10000.000000
 conf0.max_force = 20.000000
 conf0.max_dc_cur = 15.000000
 conf0.max_ac_cur = 5.000000
@@ -38,16 +38,16 @@ conf0.max_pos_error = 1.570796
 conf0.high_dc_volt = 350.000000
 conf0.low_dc_volt = 12.000000
 conf0.high_hv_temp = 70.000000
-conf0.fan_hv_temp = 60.000000
+conf0.fan_hv_temp = 30.000000
 conf0.fan_core_temp = 450.000000
 conf0.fan_motor_temp = 60.000000
-conf0.p = 0.990000
+conf0.g = 0.990000
 conf0.pos_p = 100.000000
-conf0.vel_p = 1.000000
-conf0.acc_p = 0.300000
-conf0.acc_pi = 50.000000
+conf0.vel_p = 2000.000000
+conf0.vel_i = 10.000000
+conf0.vel_g = 1.000000
 conf0.cur_p = 0.500000
 conf0.cur_i = 0.000000
 conf0.cur_ff = 1.000000
 conf0.cur_ind = 0.900000
-conf0.max_sat = 0.800000
+conf0.max_sat = 0.500000
--- a/conf/stp.txt
+++ b/conf/stp.txt
@@ -0,0 +1,6 @@
+sim0.amp = 0
+sim0.freq = 0.5
+stp0.max_vel = 5
+stp0.max_acc = 50
+stp0.target = sim0.square
+rev0.in = stp0.pos_out
--- a/src/comps/pid.comp
+++ b/src/comps/pid.comp
@@ -49,15 +49,12 @@ HAL_PIN(acc_en) = 1.0;
 HAL_PIN(torque_en) = 1.0;

 HAL_PIN(pos_p) = 100.0; // (1/s)
-HAL_PIN(pos_lp) = 5000.0; // (1/s)

 HAL_PIN(vel_p) = 2000.0; // (1/s)
 HAL_PIN(vel_i) = 10.0;
 HAL_PIN(vel_g) = 1.0;
-HAL_PIN(vel_lp) = 5000.0; // (1/s)

 HAL_PIN(acc_g) = 1.0;
-HAL_PIN(acc_lp) = 5000.0; // (1/s)

 HAL_PIN(g) = 0.99; // model limit scaling

@@ -83,10 +80,6 @@ HAL_PIN(saturated) = 0.0; // (s)
 MEM(float sat) = 0.0;
 MEM(float torque_sum) = 0.0;

-MEM(float old_vel_cmd) = 0.0;
-MEM(float old_acc_cmd) = 0.0;
-MEM(float old_torque_cmd) = 0.0;
-
 RT(
   float j = MAX(PIN(j), 0.0);
   float g = CLAMP(PIN(g), 0.0, 1.0);
@@ -116,13 +109,10 @@ RT(
   float pos_error = minus(pos_ext_cmd, pos_fb);

   float pos_p = MAX(PIN(pos_p), 0.0);
-   float pos_lp = LP_HZ(PIN(pos_lp));
   float vel_p = MAX(PIN(vel_p), 0.0);
   float vel_i = MAX(PIN(vel_i), 0.0);
   float vel_g = CLAMP(PIN(vel_g), 0.0, 1.0);
-   float vel_lp = LP_HZ(PIN(vel_lp));
   float acc_g = CLAMP(PIN(acc_g), 0.0, 1.0);
-   float acc_lp = LP_HZ(PIN(acc_lp));

   
   float pos_en = PIN(pos_en);
@@ -158,9 +148,7 @@ RT(
      // pos -> vel
      vel_cmd = pos_error * pos_p; // p
      //vel_cmd = CLAMP(vel_cmd, vel_fb + acc_min * period, vel_fb + acc_max * period); // adaptive loop clamping
-      //vel_cmd = vel_cmd * pos_lp + (1.0 - pos_lp) * old_vel_cmd; // lowpass
      vel_cmd = CLAMP(vel_cmd, vel_min * vel_g, vel_max * vel_g); // p clamping
-      //old_vel_cmd = vel_cmd;
      vel_cmd += vel_ext_cmd; // ff
      vel_sat = SAT2(vel_cmd, vel_min * 0.99, vel_max * 0.99);
      vel_cmd = CLAMP(vel_cmd, vel_min, vel_max); // clamping
@@ -168,9 +156,7 @@ RT(
      // vel -> acc
      vel_error = vel_cmd - vel_fb;
      acc_cmd = vel_error * vel_p; // p
-      //acc_cmd = acc_cmd * vel_lp + (1.0 - vel_lp) * old_acc_cmd; // lowpass
      acc_cmd = CLAMP(acc_cmd, acc_min * acc_g, acc_max * acc_g); // p clamping
-      //old_acc_cmd = acc_cmd;
      acc_cmd += acc_ext_cmd; // ff
      acc_sat = SAT2(acc_cmd, acc_min * 0.99, acc_max * 0.99);
      acc_cmd = CLAMP(acc_cmd, acc_min, acc_max); // clamping
@@ -181,8 +167,6 @@ RT(
      torque_sum += vel_error * period * vel_i; // i
      torque_sum = CLAMP(torque_sum, torque_min - torque_cmd, torque_max - torque_cmd); // dynamic integral clamping
      torque_cmd += torque_sum;
-      //torque_cmd = torque_cmd * acc_lp + (1.0 - acc_lp) * old_torque_cmd; // lowpass TODO: -ff
-      //old_torque_cmd = torque_cmd;
      torque_sat = SAT2(torque_cmd, torque_min * 0.99, torque_max * 0.99);
      
      
--- a/src/link.c
+++ b/src/link.c
@@ -181,20 +181,14 @@ void link_pid(){

   // pid
   hal_link_pins("conf0.j", "pid0.j");
-   hal_link_pins("conf0.p", "pid0.p");
+   hal_link_pins("conf0.g", "pid0.g");
   hal_link_pins("conf0.pos_p", "pid0.pos_p");
   hal_link_pins("conf0.vel_p", "pid0.vel_p");
-   hal_link_pins("conf0.acc_p", "pid0.acc_p");
-   hal_link_pins("conf0.acc_pi", "pid0.acc_pi");
+   hal_link_pins("conf0.vel_i", "pid0.vel_i");
+   hal_link_pins("conf0.vel_g", "pid0.vel_g");
   hal_link_pins("conf0.max_vel", "pid0.max_usr_vel");
   hal_link_pins("conf0.max_acc", "pid0.max_usr_acc");
   hal_link_pins("conf0.max_force", "pid0.max_usr_torque");
-   hal_set_pin("pid0.pos_lp", 4000.0);
-   hal_set_pin("pid0.vel_lp", 4000.0);
-   hal_set_pin("pid0.acc_lp", 4000.0);
-   hal_set_pin("pid0.torque_ff", 1.0);
-   hal_set_pin("pid0.vel_ff", 1.0);
-   hal_set_pin("pid0.acc_ff", 1.0);
   hal_set_pin("net0.enable", 1.0);
   hal_link_pins("pid0.torque_cor_cmd", "t2c0.torque");

--- a/src/main.c
+++ b/src/main.c
@@ -298,11 +298,11 @@ int main(void)
   HAL_PIN(fan_core_temp) = 450.0;
   HAL_PIN(fan_motor_temp) = 60.0;

-   HAL_PIN(p) = 0.99;
+   HAL_PIN(g) = 0.99;
   HAL_PIN(pos_p) = 100.0;
-   HAL_PIN(vel_p) = 1.0;
-   HAL_PIN(acc_p) = 0.3;
-   HAL_PIN(acc_pi) = 50.0;
+   HAL_PIN(vel_p) = 2000.0;
+   HAL_PIN(vel_i) = 10.0;
+   HAL_PIN(vel_g) = 1.0;
   HAL_PIN(cur_p) = 0.0;
   HAL_PIN(cur_i) = 0.0;
   HAL_PIN(cur_ff) = 1.0;