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Limit m_speed_pid_set_rpm to achievable RPM. 

If m_speed_pid_set_rpm is allowed to exceed foc_openloop_rpm before index is found,
then there will be a jump in torque when index is found.
If m_speed_pid_set_rpm is allowed to exceed [l_min_erpm, l_max_erpm] then there is
a wind up effect since it will take time for m_speed_pid_set_rpm to return to valid
range due to ramp limit.
This commit is contained in:
Carl Ljungholm 2024-02-20 11:13:38 +01:00
parent 69c837a795
commit 84f2253f98
3 changed files with 11 additions and 6 deletions
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6
motor/foc_math.c
View File

@ -444,7 +444,7 @@ void foc_run_pid_control_pos(bool index_found, float dt, motor_all_state_t *moto
}
}
void foc_run_pid_control_speed(float dt, motor_all_state_t *motor) {
void foc_run_pid_control_speed(bool index_found, float dt, motor_all_state_t *motor) {
mc_configuration *conf_now = motor->m_conf;
float p_term;
float d_term;
@ -459,6 +459,10 @@ void foc_run_pid_control_speed(float dt, motor_all_state_t *motor) {
if (conf_now->s_pid_ramp_erpms_s > 0.0) {
utils_step_towards((float*)&motor->m_speed_pid_set_rpm, motor->m_speed_command_rpm, conf_now->s_pid_ramp_erpms_s * dt);
if (!index_found) {
utils_truncate_number_abs(&motor->m_speed_pid_set_rpm, conf_now->foc_openloop_rpm);
}
utils_truncate_number(&motor->m_speed_pid_set_rpm, conf_now->l_min_erpm, conf_now->l_max_erpm);
}
float rpm = 0.0;

2
motor/foc_math.h
View File

@ -243,7 +243,7 @@ void foc_pll_run(float phase, float dt, float *phase_var,
void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, uint32_t *svm_sector);
void foc_run_pid_control_pos(bool index_found, float dt, motor_all_state_t *motor);
void foc_run_pid_control_speed(float dt, motor_all_state_t *motor);
void foc_run_pid_control_speed(bool index_found, float dt, motor_all_state_t *motor);
float foc_correct_encoder(float obs_angle, float enc_angle, float speed, float sl_erpm, motor_all_state_t *motor);
float foc_correct_hall(float angle, float dt, motor_all_state_t *motor, int hall_val);
void foc_run_fw(motor_all_state_t *motor, float dt);

9
motor/mcpwm_foc.c
View File

@ -4169,11 +4169,12 @@ static THD_FUNCTION(pid_thread, arg) {
float dt = timer_seconds_elapsed_since(last_time);
last_time = timer_time_now();
foc_run_pid_control_pos(encoder_index_found(), dt, (motor_all_state_t*)&m_motor_1);
foc_run_pid_control_speed(dt, (motor_all_state_t*)&m_motor_1);
bool index_found = encoder_index_found();
foc_run_pid_control_pos(index_found, dt, (motor_all_state_t*)&m_motor_1);
foc_run_pid_control_speed(index_found, dt, (motor_all_state_t*)&m_motor_1);
#ifdef HW_HAS_DUAL_MOTORS
foc_run_pid_control_pos(encoder_index_found(), dt, (motor_all_state_t*)&m_motor_2);
foc_run_pid_control_speed(dt, (motor_all_state_t*)&m_motor_2);
foc_run_pid_control_pos(index_found, dt, (motor_all_state_t*)&m_motor_2);
foc_run_pid_control_speed(index_found, dt, (motor_all_state_t*)&m_motor_2);
#endif
}
}