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position control with gain adjust. Need tweaking

This commit is contained in:
Nicolas Trimborn 2021-08-12 15:53:31 +02:00
parent 797226616e
commit c415d29ee0
4 changed files with 52 additions and 38 deletions
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14
2_Motor_Master/Motor_Master/Motor_Master/bldc.c
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@ -110,7 +110,7 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
//motor->motor_status.nextHallPattern = 3; //motor->motor_status.nextHallPattern = 3;
motor->motor_status.speed_average = 0; motor->motor_status.speed_average = 0;
motor->motor_status.count =1; motor->motor_status.count = 1;
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// Initialize Phase Current Struct: // Initialize Phase Current Struct:
@ -177,8 +177,10 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
//motor->controllers.Pid_Speed.Kd = 0.001f; //motor->controllers.Pid_Speed.Kd = 0.001f;
/* VI Control Gains */ /* VI Control Gains */
motor->controllers.Pid_Speed.Kp = 0.0002f; //motor->controllers.Pid_Speed.Kp = 0.0002f;
motor->controllers.Pid_Speed.Ki = 0.0000001f; //motor->controllers.Pid_Speed.Ki = 0.0000001f;
motor->controllers.Pid_Speed.Kp = motor_param->controller_param.Pid_Speed.Kp;
motor->controllers.Pid_Speed.Ki = motor_param->controller_param.Pid_Speed.Ki;
//motor->controllers.Pid_Speed.Kp = 0.0005f; //motor->controllers.Pid_Speed.Kp = 0.0005f;
//motor->controllers.Pid_Speed.Ki = 0.0f; //motor->controllers.Pid_Speed.Ki = 0.0f;
@ -192,8 +194,10 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
//// Initialize PI Position control //// Initialize PI Position control
//// ------------------------------------------------------------------------------ //// ------------------------------------------------------------------------------
PI_objectInit(&motor->controllers.Pi_Pos); PI_objectInit(&motor->controllers.Pi_Pos);
motor->controllers.Pi_Pos.Kp = 40.0f; //motor->controllers.Pi_Pos.Kp = 40.0f;
motor->controllers.Pi_Pos.Ki = 0.0f; //motor->controllers.Pi_Pos.Ki = 0.0f;
motor->controllers.Pi_Pos.Kp = motor_param->controller_param.Pi_Pos.Kp;
motor->controllers.Pi_Pos.Ki = motor_param->controller_param.Pi_Pos.Ki;
motor->controllers.Pi_Pos.OutMax_pu = (motor_param->motor_Max_Spd_RPM); motor->controllers.Pi_Pos.OutMax_pu = (motor_param->motor_Max_Spd_RPM);
motor->controllers.Pi_Pos.OutMin_pu = -(motor_param->motor_Max_Spd_RPM); motor->controllers.Pi_Pos.OutMin_pu = -(motor_param->motor_Max_Spd_RPM);
} }

7
2_Motor_Master/Motor_Master/Motor_Master/bldc_types.h
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@ -45,13 +45,6 @@ volatile typedef struct timerflags
volatile bool motor_telemetry_flag; volatile bool motor_telemetry_flag;
} TIMERflags_t; } TIMERflags_t;
volatile typedef struct
{
volatile PI_t Pi_Idc;
volatile PID_t Pid_Speed;
volatile PI_t Pi_Pos;
} MOTOR_Control_Structs;
volatile typedef struct volatile typedef struct
{ {
volatile uint8_t desiredDirection; //! The desired direction of rotation. volatile uint8_t desiredDirection; //! The desired direction of rotation.

6
2_Motor_Master/Motor_Master/Motor_Master/control.h
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@ -71,6 +71,12 @@ typedef volatile struct
//FILTER_FO_Obj derFilter; //!< the derivative filter object //FILTER_FO_Obj derFilter; //!< the derivative filter object
} PID_t; } PID_t;
volatile typedef struct
{
volatile PI_t Pi_Idc;
volatile PID_t Pid_Speed;
volatile PI_t Pi_Pos;
} MOTOR_Control_Structs;
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// functions // functions

63
2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
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@ -9,6 +9,7 @@
#ifndef MOTORPARAMETERS_H_ #ifndef MOTORPARAMETERS_H_
#define MOTORPARAMETERS_H_ #define MOTORPARAMETERS_H_
#include "atmel_start.h" #include "atmel_start.h"
#include "control.h"
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// M1 Hall Parameters // M1 Hall Parameters
@ -131,6 +132,7 @@ typedef struct
const float32_t motor_MeasureRange_RPM; // give 20% headroom const float32_t motor_MeasureRange_RPM; // give 20% headroom
const float32_t motor_Max_Spd_ELEC; const float32_t motor_Max_Spd_ELEC;
const float32_t motor_Max_Current_IDC_A; const float32_t motor_Max_Current_IDC_A;
MOTOR_Control_Structs controller_param;
} BLDCMotor_param_t; } BLDCMotor_param_t;
//static BLDCMotor_param_t FH_22mm24BXTR; //static BLDCMotor_param_t FH_22mm24BXTR;
@ -138,36 +140,45 @@ typedef struct
/* Small Motor - 2214S024BXTR*/ /* Small Motor - 2214S024BXTR*/
const static BLDCMotor_param_t FH_22mm24BXTR = { const static BLDCMotor_param_t FH_22mm24BXTR = {
.pwm_desc = &PWM_0, .pwm_desc = &PWM_0,
.speedtimer_hw = TC2, .speedtimer_hw = TC2,
.motor_Poles = 14, .motor_Poles = 14,
.motor_polePairs = 7, .motor_polePairs = 7,
.motor_commutationStates = 42, //polePairs * 6 .motor_commutationStates = 42, //polePairs * 6
.motor_RS_Ohm = 25.9, .motor_RS_Ohm = 25.9,
.motor_LD_H = 0.003150, .motor_LD_H = 0.003150,
.motor_LQ_H = 0.003150, .motor_LQ_H = 0.003150,
.motor_Flux_WB = 0.001575, .motor_Flux_WB = 0.001575,
.motor_Max_Spd_RPM = 3000, .motor_Max_Spd_RPM = 3000,
.motor_MeasureRange_RPM = 3000 * 1.2, //(1.2f * MOTOR_MAX_SPD_RPM)f // give 20% headroom .motor_MeasureRange_RPM = 3000 * 1.2, //(1.2f * MOTOR_MAX_SPD_RPM)f // give 20% headroom
.motor_Max_Spd_ELEC = (3000/60)*7.0, //(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS .motor_Max_Spd_ELEC = (3000/60)*7.0, //(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
.motor_Max_Current_IDC_A = 0.368, .motor_Max_Current_IDC_A = 0.368,
.controller_param.Pid_Speed.Kp = 0.00008f,
.controller_param.Pid_Speed.Ki = 0.0000001f,
//.controller_param.Pid_Speed.Ki = 0.0000001f,
.controller_param.Pi_Pos.Kp = 50.0f,
.controller_param.Pi_Pos.Ki = 0.0f,
}; };
/* Big Motor - 3216W024BXTR */ /* Big Motor - 3216W024BXTR */
const static BLDCMotor_param_t FH_32mm24BXTR = { const static BLDCMotor_param_t FH_32mm24BXTR = {
.pwm_desc = &PWM_1, .pwm_desc = &PWM_1,
.speedtimer_hw = TC4, .speedtimer_hw = TC4,
.motor_Poles = 14, .motor_Poles = 14,
.motor_polePairs = 7, .motor_polePairs = 7,
.motor_commutationStates = 42, //polePairs * 6 .motor_commutationStates = 42, //polePairs * 6
.motor_RS_Ohm = 3.37, .motor_RS_Ohm = 3.37,
.motor_LD_H = 0.001290, .motor_LD_H = 0.001290,
.motor_LQ_H = 0.001290, .motor_LQ_H = 0.001290,
.motor_Flux_WB = 0.0063879968, .motor_Flux_WB = 0.0063879968,
.motor_Max_Spd_RPM = 3000, .motor_Max_Spd_RPM = 3000,
.motor_MeasureRange_RPM = 3200, //(1.2f * MOTOR_MAX_SPD_RPM)f // give 20% headroom .motor_MeasureRange_RPM = 3200, //(1.2f * MOTOR_MAX_SPD_RPM)f // give 20% headroom
.motor_Max_Spd_ELEC = 12000, //(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS .motor_Max_Spd_ELEC = 12000, //(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
.motor_Max_Current_IDC_A = 1.0, .motor_Max_Current_IDC_A = 1.0,
.controller_param.Pid_Speed.Kp = 0.0002f,
.controller_param.Pid_Speed.Ki = 0.0000001f,
.controller_param.Pi_Pos.Kp = 40.0f,
.controller_param.Pi_Pos.Ki = 0.0f,
}; };
#endif /* MOTORPARAMETERS_H_ */ #endif /* MOTORPARAMETERS_H_ */