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Revert "Add ramp input to the speed PID loop."

This commit is contained in:
Benjamin Vedder 2020-05-12 15:30:34 +02:00 committed by GitHub
parent c9a89fb0df
commit e58c87103c
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 2 additions and 24 deletions
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3
confgenerator.c
View File

@ -118,7 +118,6 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
buffer_append_float32_auto(buffer, conf->s_pid_kd_filter, &ind);
buffer_append_float32_auto(buffer, conf->s_pid_min_erpm, &ind);
buffer[ind++] = conf->s_pid_allow_braking;
buffer_append_float32_auto(buffer, conf->s_pid_ramp_erpms_s, &ind);
buffer_append_float32_auto(buffer, conf->p_pid_kp, &ind);
buffer_append_float32_auto(buffer, conf->p_pid_ki, &ind);
buffer_append_float32_auto(buffer, conf->p_pid_kd, &ind);
@ -411,7 +410,6 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
conf->s_pid_kd_filter = buffer_get_float32_auto(buffer, &ind);
conf->s_pid_min_erpm = buffer_get_float32_auto(buffer, &ind);
conf->s_pid_allow_braking = buffer[ind++];
conf->s_pid_ramp_erpms_s = buffer_get_float32_auto(buffer, &ind);
conf->p_pid_kp = buffer_get_float32_auto(buffer, &ind);
conf->p_pid_ki = buffer_get_float32_auto(buffer, &ind);
conf->p_pid_kd = buffer_get_float32_auto(buffer, &ind);
@ -700,7 +698,6 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
conf->s_pid_kd_filter = MCCONF_S_PID_KD_FILTER;
conf->s_pid_min_erpm = MCCONF_S_PID_MIN_RPM;
conf->s_pid_allow_braking = MCCONF_S_PID_ALLOW_BRAKING;
conf->s_pid_ramp_erpms_s = MCCONF_S_PID_RAMP_ERPMS_S;
conf->p_pid_kp = MCCONF_P_PID_KP;
conf->p_pid_ki = MCCONF_P_PID_KI;
conf->p_pid_kd = MCCONF_P_PID_KD;

2
confgenerator.h
View File

@ -8,7 +8,7 @@
#include <stdbool.h>
// Constants
#define MCCONF_SIGNATURE 1775793947
#define MCCONF_SIGNATURE 3698540221
#define APPCONF_SIGNATURE 2460147246
// Functions

1
datatypes.h
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@ -321,7 +321,6 @@ typedef struct {
float s_pid_kd_filter;
float s_pid_min_erpm;
bool s_pid_allow_braking;
float s_pid_ramp_erpms_s;
// Pos PID
float p_pid_kp;
float p_pid_ki;

3
mcconf/mcconf_default.h
View File

@ -136,9 +136,6 @@
#ifndef MCCONF_S_PID_ALLOW_BRAKING
#define MCCONF_S_PID_ALLOW_BRAKING true // Allow braking in speed control mode
#endif
#ifndef MCCONF_S_PID_RAMP_ERPMS_S
#define MCCONF_S_PID_RAMP_ERPMS_S -1.0 // Default Speed Input Ramp
#endif
// Position PID parameters
#ifndef MCCONF_P_PID_KP

17
mcpwm_foc.c
View File

@ -111,7 +111,6 @@ typedef struct {
bool m_output_on;
float m_pos_pid_set;
float m_speed_pid_set_rpm;
float m_speed_command_rpm;
float m_phase_now_observer;
float m_phase_now_observer_override;
bool m_phase_observer_override;
@ -166,7 +165,6 @@ typedef struct {
float m_hall_dt_diff_now;
} motor_all_state_t;
// Private variables
static volatile bool m_dccal_done = false;
static volatile float m_last_adc_isr_duration;
@ -800,17 +798,8 @@ void mcpwm_foc_set_duty_noramp(float dutyCycle) {
* The electrical RPM goal value to use.
*/
void mcpwm_foc_set_pid_speed(float rpm) {
if( motor_now()->m_conf->s_pid_ramp_erpms_s > 0.0 ){
if( motor_now()->m_control_mode != CONTROL_MODE_SPEED ||
motor_now()->m_state != MC_STATE_RUNNING ){
motor_now()->m_speed_pid_set_rpm = mcpwm_foc_get_rpm();
}
motor_now()->m_speed_command_rpm = rpm;
}else{
motor_now()->m_speed_pid_set_rpm = rpm;
}
motor_now()->m_control_mode = CONTROL_MODE_SPEED;
motor_now()->m_speed_pid_set_rpm = rpm;
if (motor_now()->m_state != MC_STATE_RUNNING) {
motor_now()->m_state = MC_STATE_RUNNING;
@ -3643,10 +3632,6 @@ static void run_pid_control_speed(float dt, volatile motor_all_state_t *motor) {
return;
}
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);
}
const float rpm = mcpwm_foc_get_rpm();
float error = motor->m_speed_pid_set_rpm - rpm;