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Reset PID controller filters when not running to avoid start glitch

This commit is contained in:
Benjamin Vedder 2021-11-15 21:29:05 +01:00
parent 76adfc1601
commit fff18eb76b
1 changed files with 27 additions and 21 deletions
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48
mcpwm_foc.c
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@ -2358,27 +2358,28 @@ int mcpwm_foc_dc_cal(bool cal_undriven) {
}
void mcpwm_foc_print_state(void) {
commands_printf("Mod d: %.2f", (double)motor_now()->m_motor_state.mod_d);
commands_printf("Mod q: %.2f", (double)motor_now()->m_motor_state.mod_q);
commands_printf("Duty: %.2f", (double)motor_now()->m_motor_state.duty_now);
commands_printf("Vd: %.2f", (double)motor_now()->m_motor_state.vd);
commands_printf("Vq: %.2f", (double)motor_now()->m_motor_state.vq);
commands_printf("Phase: %.2f", (double)motor_now()->m_motor_state.phase);
commands_printf("V_alpha: %.2f", (double)motor_now()->m_motor_state.v_alpha);
commands_printf("V_beta: %.2f", (double)motor_now()->m_motor_state.v_beta);
commands_printf("id: %.2f", (double)motor_now()->m_motor_state.id);
commands_printf("iq: %.2f", (double)motor_now()->m_motor_state.iq);
commands_printf("id_filter: %.2f", (double)motor_now()->m_motor_state.id_filter);
commands_printf("iq_filter: %.2f", (double)motor_now()->m_motor_state.iq_filter);
commands_printf("id_target: %.2f", (double)motor_now()->m_motor_state.id_target);
commands_printf("iq_target: %.2f", (double)motor_now()->m_motor_state.iq_target);
commands_printf("i_abs: %.2f", (double)motor_now()->m_motor_state.i_abs);
commands_printf("i_abs_filter: %.2f", (double)motor_now()->m_motor_state.i_abs_filter);
commands_printf("Obs_x1: %.2f", (double)motor_now()->m_observer_x1);
commands_printf("Obs_x2: %.2f", (double)motor_now()->m_observer_x2);
commands_printf("vd_int: %.2f", (double)motor_now()->m_motor_state.vd_int);
commands_printf("vq_int: %.2f", (double)motor_now()->m_motor_state.vq_int);
commands_printf("off_delay: %.2f", (double)motor_now()->m_current_off_delay);
commands_printf("Mod d: %.2f", (double)motor_now()->m_motor_state.mod_d);
commands_printf("Mod q: %.2f", (double)motor_now()->m_motor_state.mod_q);
commands_printf("Mod q flt: %.2f", (double)motor_now()->m_motor_state.mod_q_filter);
commands_printf("Duty: %.2f", (double)motor_now()->m_motor_state.duty_now);
commands_printf("Vd: %.2f", (double)motor_now()->m_motor_state.vd);
commands_printf("Vq: %.2f", (double)motor_now()->m_motor_state.vq);
commands_printf("Phase: %.2f", (double)motor_now()->m_motor_state.phase);
commands_printf("V_alpha: %.2f", (double)motor_now()->m_motor_state.v_alpha);
commands_printf("V_beta: %.2f", (double)motor_now()->m_motor_state.v_beta);
commands_printf("id: %.2f", (double)motor_now()->m_motor_state.id);
commands_printf("iq: %.2f", (double)motor_now()->m_motor_state.iq);
commands_printf("id_filter: %.2f", (double)motor_now()->m_motor_state.id_filter);
commands_printf("iq_filter: %.2f", (double)motor_now()->m_motor_state.iq_filter);
commands_printf("id_target: %.2f", (double)motor_now()->m_motor_state.id_target);
commands_printf("iq_target: %.2f", (double)motor_now()->m_motor_state.iq_target);
commands_printf("i_abs: %.2f", (double)motor_now()->m_motor_state.i_abs);
commands_printf("i_abs_flt: %.2f", (double)motor_now()->m_motor_state.i_abs_filter);
commands_printf("Obs_x1: %.2f", (double)motor_now()->m_observer_x1);
commands_printf("Obs_x2: %.2f", (double)motor_now()->m_observer_x2);
commands_printf("vd_int: %.2f", (double)motor_now()->m_motor_state.vd_int);
commands_printf("vq_int: %.2f", (double)motor_now()->m_motor_state.vq_int);
commands_printf("off_delay: %.2f", (double)motor_now()->m_current_off_delay);
}
float mcpwm_foc_get_last_adc_isr_duration(void) {
@ -2998,6 +2999,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
motor_now->m_motor_state.mod_q = motor_now->m_motor_state.vq * voltage_normalize;
UTILS_NAN_ZERO(motor_now->m_motor_state.mod_q_filter);
UTILS_LP_FAST(motor_now->m_motor_state.mod_q_filter, motor_now->m_motor_state.mod_q, 0.2);
utils_truncate_number_abs((float*)&motor_now->m_motor_state.mod_q_filter, 1.0);
}
// Calculate duty cycle
@ -4232,6 +4234,9 @@ static void run_pid_control_pos(float dt, volatile motor_all_state_t *motor) {
if (motor->m_control_mode != CONTROL_MODE_POS) {
motor->m_pos_i_term = 0;
motor->m_pos_prev_error = 0;
motor->m_pos_prev_proc = angle_now;
motor->m_pos_d_filter = 0.0;
motor->m_pos_d_filter_proc = 0.0;
return;
}
@ -4331,6 +4336,7 @@ static void run_pid_control_speed(float dt, volatile motor_all_state_t *motor) {
if (motor->m_control_mode != CONTROL_MODE_SPEED) {
motor->m_speed_i_term = 0.0;
motor->m_speed_prev_error = 0.0;
motor->m_speed_d_filter = 0.0;
return;
}