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Speed PID update to work better with propellers

This commit is contained in:
Benjamin Vedder 2022-05-31 15:28:06 +02:00
parent 74cbe7cea3
commit 582bdc7080
2 changed files with 5 additions and 7 deletions
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2
conf_general.h
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@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 6
#define FW_VERSION_MINOR 00
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 50
#define FW_TEST_VERSION_NUMBER 51
#include "datatypes.h"

10
motor/foc_math.c
View File

@ -483,15 +483,13 @@ void foc_run_pid_control_speed(float dt, motor_all_state_t *motor) {
motor->m_speed_prev_error = error;
// Calculate output
utils_truncate_number_abs(&p_term, 1.0);
utils_truncate_number_abs(&d_term, 1.0);
float output = p_term + motor->m_speed_i_term + d_term;
float pre_output = output;
utils_truncate_number_abs(&output, 1.0);
float output_saturation = output - pre_output;
// Integrator windup protection
motor->m_speed_i_term += error * conf_now->s_pid_ki * dt * (1.0 / 20.0);
utils_truncate_number_abs(&motor->m_speed_i_term, 1.0);
motor->m_speed_i_term += error * (conf_now->s_pid_ki * dt) * (1.0 / 20.0) + output_saturation;
if (conf_now->s_pid_ki < 1e-9) {
motor->m_speed_i_term = 0.0;
}
@ -507,7 +505,7 @@ void foc_run_pid_control_speed(float dt, motor_all_state_t *motor) {
}
}
motor->m_iq_set = output * conf_now->l_current_max * conf_now->l_current_max_scale;
motor->m_iq_set = output * conf_now->lo_current_max * conf_now->l_current_max_scale;
}
float foc_correct_encoder(float obs_angle, float enc_angle, float speed,