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Limit hall sensor angle rate of change based on ERPM

This commit is contained in:
Benjamin Vedder 2021-04-26 17:57:49 +02:00
parent 9014bc4f6a
commit 99b0cb79d2
2 changed files with 15 additions and 1 deletions
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1
CHANGELOG
View File

@ -20,6 +20,7 @@
* Odometer is now persistent after firmware updates.
* Added hw runtime counter (see hw_status in terminal)
* Added custom UI support.
* Limit hall sensor angle rate of change based on ERPM.
=== FW 5.02 ===
* IMU calibration improvement.

15
mcpwm_foc.c
View File

@ -174,6 +174,7 @@ typedef struct {
int m_ang_hall_int_prev;
bool m_using_hall;
float m_ang_hall;
float m_ang_hall_rate_limited;
float m_hall_dt_diff_last;
float m_hall_dt_diff_now;
} motor_all_state_t;
@ -4424,9 +4425,21 @@ static float correct_hall(float angle, float dt, volatile motor_all_state_t *mot
}
}
// Limit hall sensor rate of change. This will reduce current spikes in the current controllers when the angle estimation
// changes fast.
float angle_step = (fmaxf(rpm_abs_hall, conf_now->foc_hall_interp_erpm) / 60.0) * 2.0 * M_PI * dt * 1.5;
float angle_diff = utils_angle_difference_rad(motor->m_ang_hall, motor->m_ang_hall_rate_limited);
if (fabsf(angle_diff) < angle_step) {
motor->m_ang_hall_rate_limited = motor->m_ang_hall;
} else {
motor->m_ang_hall_rate_limited += angle_step * SIGN(angle_diff);
}
utils_norm_angle_rad((float*)&motor->m_ang_hall_rate_limited);
utils_norm_angle_rad((float*)&motor->m_ang_hall);
if (motor->m_using_hall) {
angle = motor->m_ang_hall;
angle = motor->m_ang_hall_rate_limited;
}
} else {
// Invalid hall reading. Don't update angle.