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Avoid numerical instability when utils_map is used over a range that approaches 0

This commit is contained in:
Benjamin Vedder 2021-03-27 11:18:47 +01:00
parent 3f15ab00da
commit 2133d21fbc
10 changed files with 64 additions and 38 deletions
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1
CHANGELOG
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@ -11,6 +11,7 @@
* Added HFI start sensor mode.
* Added TEMP_SENSOR_KTY84_130.
* Major UAVCAN update. See: https://github.com/vedderb/bldc/pull/269
* Avoid numerical instability when mapping is done over a narrow range. See: https://github.com/vedderb/bldc/issues/262
=== FW 5.02 ===
* IMU calibration improvement.

2
applications/app_adc.c
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@ -531,7 +531,7 @@ static THD_FUNCTION(adc_thread, arg) {
can_status_msg *msg = comm_can_get_status_msg_index(i);
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
if (config.tc) {
if (config.tc && config.tc_max_diff > 1.0) {
float rpm_tmp = msg->rpm;
if (is_reverse) {
rpm_tmp = -rpm_tmp;

4
applications/app_nunchuk.c
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@ -504,7 +504,7 @@ static THD_FUNCTION(output_thread, arg) {
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
bool is_braking = (current > 0.0 && msg->duty < 0.0) || (current < 0.0 && msg->duty > 0.0);
if (config.tc && !is_braking) {
if (config.tc && config.tc_max_diff > 1.0 && !is_braking) {
float rpm_tmp = fabsf(msg->rpm);
float diff = rpm_tmp - rpm_lowest;
@ -520,7 +520,7 @@ static THD_FUNCTION(output_thread, arg) {
bool is_braking = (current > 0.0 && duty_now < 0.0) || (current < 0.0 && duty_now > 0.0);
if (config.tc && !is_braking) {
if (config.tc && config.tc_max_diff > 1.0 && !is_braking) {
float diff = rpm_local - rpm_lowest;
current_out = utils_map(diff, 0.0, config.tc_max_diff, current, 0.0);
if (fabsf(current_out) < mcconf->cc_min_current) {

10
applications/app_pas.c
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@ -194,8 +194,18 @@ static THD_FUNCTION(pas_thread, arg) {
output = 0.0;
break;
case PAS_CTRL_TYPE_CADENCE:
// NOTE: If the limits are the same a numerical instability is approached, so in that case
// just use on/off control (which is what setting the limits to the same value essentially means).
if (config.pedal_rpm_end > (config.pedal_rpm_start + 1.0)) {
output = utils_map(pedal_rpm, config.pedal_rpm_start, config.pedal_rpm_end, 0.0, config.current_scaling);
utils_truncate_number(&output, 0.0, config.current_scaling);
} else {
if (pedal_rpm > config.pedal_rpm_end) {
output = config.current_scaling;
} else {
output = 0.0;
}
}
break;
default:
break;

4
applications/app_ppm.c
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@ -495,7 +495,7 @@ static THD_FUNCTION(ppm_thread, arg) {
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
//Traction Control - Applied to slaves except if a fault has occured on the local VESC (undriven wheel may generate fake RPM)
if (config.tc && !autoTCdisengaged) {
if (config.tc && config.tc_max_diff > 1.0 && !autoTCdisengaged) {
float rpm_tmp = msg->rpm;
if (is_reverse) {
rpm_tmp = -rpm_tmp;
@ -513,7 +513,7 @@ static THD_FUNCTION(ppm_thread, arg) {
}
}
//Traction Control - Applying locally
if (config.tc) {
if (config.tc && config.tc_max_diff > 1.0) {
float diff = rpm_local - rpm_lowest;
current_out = utils_map(diff, 0.0, config.tc_max_diff, current, 0.0);
if (current_out < mcconf->cc_min_current) {

8
bms.c
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@ -286,9 +286,9 @@ void bms_update_limits(float *i_in_min, float *i_in_max,
if (UTILS_AGE_S(m_stat_temp_max.rx_time) < MAX_CAN_AGE_SEC) {
float temp = m_stat_temp_max.t_cell_max;
if (temp < m_conf.t_limit_start) {
if (temp < (m_conf.t_limit_start + 0.1)) {
// OK
} else if (temp > m_conf.t_limit_end) {
} else if (temp > (m_conf.t_limit_end - 0.1)) {
i_in_min_bms = 0.0;
i_in_max_bms = 0.0;
// Maybe add fault code?
@ -317,9 +317,9 @@ void bms_update_limits(float *i_in_min, float *i_in_max,
if (UTILS_AGE_S(m_stat_soc_min.rx_time) < MAX_CAN_AGE_SEC) {
float soc = m_stat_soc_min.soc;
if (soc > m_conf.soc_limit_start) {
if (soc > (m_conf.soc_limit_start - 0.001)) {
// OK
} else if (soc < m_conf.soc_limit_end) {
} else if (soc < (m_conf.soc_limit_end + 0.001)) {
i_in_max_bms = 0.0;
} else {
i_in_max_bms = utils_map(soc, m_conf.soc_limit_start,

12
commands.c
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@ -1424,6 +1424,18 @@ void commands_apply_mcconf_hw_limits(mc_configuration *mcconf) {
}
#ifndef DISABLE_HW_LIMITS
// TODO: Maybe truncate values that get close to numerical instabilities when set
// close to each other, such as
//
// conf->l_temp_motor_start, conf->l_temp_motor_end
// and
// conf->l_temp_fet_start, conf->l_temp_fet_end
//
// A division by 0 is avoided in the code, but getting close can still make things
// oscillate. At the moment we leave the responsibility of setting sane values
// to the user.
#ifdef HW_LIM_CURRENT
utils_truncate_number(&mcconf->l_current_max, HW_LIM_CURRENT);
utils_truncate_number(&mcconf->l_current_min, HW_LIM_CURRENT);

2
conf_general.h
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@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 5
#define FW_VERSION_MINOR 03
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 15
#define FW_TEST_VERSION_NUMBER 16
#include "datatypes.h"

33
mc_interface.c
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@ -1935,9 +1935,9 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
// Temperature MOSFET
float lo_min_mos = l_current_min_tmp;
float lo_max_mos = l_current_max_tmp;
if (motor->m_temp_fet < conf->l_temp_fet_start) {
if (motor->m_temp_fet < (conf->l_temp_fet_start + 0.1)) {
// Keep values
} else if (motor->m_temp_fet > conf->l_temp_fet_end) {
} else if (motor->m_temp_fet > (conf->l_temp_fet_end - 0.1)) {
lo_min_mos = 0.0;
lo_max_mos = 0.0;
mc_interface_fault_stop(FAULT_CODE_OVER_TEMP_FET, !is_motor_1, false);
@ -1961,9 +1961,9 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
// Temperature MOTOR
float lo_min_mot = l_current_min_tmp;
float lo_max_mot = l_current_max_tmp;
if (motor->m_temp_motor < conf->l_temp_motor_start) {
if (motor->m_temp_motor < (conf->l_temp_motor_start + 0.1)) {
// Keep values
} else if (motor->m_temp_motor > conf->l_temp_motor_end) {
} else if (motor->m_temp_motor > (conf->l_temp_motor_end - 0.1)) {
lo_min_mot = 0.0;
lo_max_mot = 0.0;
mc_interface_fault_stop(FAULT_CODE_OVER_TEMP_MOTOR, !is_motor_1, false);
@ -1992,9 +1992,9 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
const float temp_motor_accel_end = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_motor_end, 25.0);
float lo_fet_temp_accel = 0.0;
if (motor->m_temp_fet < temp_fet_accel_start) {
if (motor->m_temp_fet < (temp_fet_accel_start + 0.1)) {
lo_fet_temp_accel = l_current_max_tmp;
} else if (motor->m_temp_fet > temp_fet_accel_end) {
} else if (motor->m_temp_fet > (temp_fet_accel_end - 0.1)) {
lo_fet_temp_accel = 0.0;
} else {
lo_fet_temp_accel = utils_map(motor->m_temp_fet, temp_fet_accel_start,
@ -2002,9 +2002,9 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
}
float lo_motor_temp_accel = 0.0;
if (motor->m_temp_motor < temp_motor_accel_start) {
if (motor->m_temp_motor < (temp_motor_accel_start + 0.1)) {
lo_motor_temp_accel = l_current_max_tmp;
} else if (motor->m_temp_motor > temp_motor_accel_end) {
} else if (motor->m_temp_motor > (temp_motor_accel_end - 0.1)) {
lo_motor_temp_accel = 0.0;
} else {
lo_motor_temp_accel = utils_map(motor->m_temp_motor, temp_motor_accel_start,
@ -2015,9 +2015,9 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
float lo_max_rpm = 0.0;
const float rpm_pos_cut_start = conf->l_max_erpm * conf->l_erpm_start;
const float rpm_pos_cut_end = conf->l_max_erpm;
if (rpm_now < rpm_pos_cut_start) {
if (rpm_now < (rpm_pos_cut_start + 0.1)) {
lo_max_rpm = l_current_max_tmp;
} else if (rpm_now > rpm_pos_cut_end) {
} else if (rpm_now > (rpm_pos_cut_end - 0.1)) {
lo_max_rpm = 0.0;
} else {
lo_max_rpm = utils_map(rpm_now, rpm_pos_cut_start, rpm_pos_cut_end, l_current_max_tmp, 0.0);
@ -2027,9 +2027,9 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
float lo_min_rpm = 0.0;
const float rpm_neg_cut_start = conf->l_min_erpm * conf->l_erpm_start;
const float rpm_neg_cut_end = conf->l_min_erpm;
if (rpm_now > rpm_neg_cut_start) {
if (rpm_now > (rpm_neg_cut_start - 0.1)) {
lo_min_rpm = l_current_max_tmp;
} else if (rpm_now < rpm_neg_cut_end) {
} else if (rpm_now < (rpm_neg_cut_end + 0.1)) {
lo_min_rpm = 0.0;
} else {
lo_min_rpm = utils_map(rpm_now, rpm_neg_cut_start, rpm_neg_cut_end, l_current_max_tmp, 0.0);
@ -2037,10 +2037,11 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
// Duty max
float lo_max_duty = 0.0;
if (duty_now_abs < conf->l_duty_start) {
if (duty_now_abs < (conf->l_duty_start * conf->l_max_duty) || conf->l_duty_start > 0.99) {
lo_max_duty = l_current_max_tmp;
} else {
lo_max_duty = utils_map(duty_now_abs, conf->l_duty_start, conf->l_max_duty, l_current_max_tmp, 0.0);
lo_max_duty = utils_map(duty_now_abs, (conf->l_duty_start * conf->l_max_duty),
conf->l_max_duty, l_current_max_tmp, 0.0);
}
float lo_max = utils_min_abs(lo_max_mos, lo_max_mot);
@ -2065,9 +2066,9 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
// Battery cutoff
float lo_in_max_batt = 0.0;
if (v_in > conf->l_battery_cut_start) {
if (v_in > (conf->l_battery_cut_start - 0.1)) {
lo_in_max_batt = conf->l_in_current_max;
} else if (v_in < conf->l_battery_cut_end) {
} else if (v_in < (conf->l_battery_cut_end + 0.1)) {
lo_in_max_batt = 0.0;
} else {
lo_in_max_batt = utils_map(v_in, conf->l_battery_cut_start,

4
mcpwm_foc.c
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@ -3535,6 +3535,7 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
UTILS_LP_FAST(state_m->iq_filter, state_m->iq, conf_now->foc_current_filter_const);
float d_gain_scale = 1.0;
if (conf_now->foc_d_gain_scale_start < 0.99) {
float max_mod_norm = fabsf(state_m->duty_now / max_duty);
if (max_duty < 0.01) {
max_mod_norm = 1.0;
@ -3546,6 +3547,7 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
d_gain_scale = conf_now->foc_d_gain_scale_max_mod;
}
}
}
float Ierr_d = state_m->id_target - state_m->id;
float Ierr_q = state_m->iq_target - state_m->iq;
@ -3655,7 +3657,7 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
if (motor->m_hfi.est_done_cnt < conf_now->foc_hfi_start_samples) {
hfi_voltage = conf_now->foc_hfi_voltage_start;
} else {
hfi_voltage = utils_map(fabsf(state_m->iq), 0.0, conf_now->l_current_max,
hfi_voltage = utils_map(fabsf(state_m->iq), -0.01, conf_now->l_current_max,
conf_now->foc_hfi_voltage_run, conf_now->foc_hfi_voltage_max);
}