Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

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Dependencies:   mbed FastPWM

Files at this revision

API Documentation at this revision

Revision 63:a3c7f31742c9, committed 2020-05-15

Comitter:
Lightvalve
Date:
Fri May 15 03:25:15 2020 +0000
Parent:
62:851cf7b7aa7a
Child:
64:dc5b5c258579
Commit message:
200515

Changed in this revision

CAN/function_CAN.cpp Show annotated file Show diff for this revision Revisions of this file
function_utilities/function_utilities.cpp Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
setting.h Show annotated file Show diff for this revision Revisions of this file 
--- a/CAN/function_CAN.cpp	Tue May 12 06:23:22 2020 +0000
+++ b/CAN/function_CAN.cpp	Fri May 15 03:25:15 2020 +0000
@@ -378,7 +378,7 @@
         case CRX_SET_PISTON_AREA: {
             PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
             PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
-            PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
+            PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
             alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
             
             ROM_RESET_DATA();
@@ -720,7 +720,7 @@
             vel.ref = (double)temp_vel * 256.0f;
         }
         
-        torq.ref = (double)temp_torq * 0.1f;
+        torq.ref = (double)temp_torq * 0.1f /(float)(TORQUE_SENSOR_PULSE_PER_TORQUE);
         
     } else if(address==CID_RX_REF_VALVE_POS) {
         int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);

--- a/function_utilities/function_utilities.cpp	Tue May 12 06:23:22 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Fri May 15 03:25:15 2020 +0000
@@ -458,7 +458,7 @@
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
     SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE);
     CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE);
-    CURRENT_CONTROL_MODE = 0;
+    CURRENT_CONTROL_MODE = 1;
     FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE);
     CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
     CAN_FREQ = 500;
@@ -487,7 +487,7 @@
     CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B);
     PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A);
     PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B);
-    PISTON_AREA_alpha = (float)PISTON_AREA_B/(float)PISTON_AREA_A;
+    PISTON_AREA_alpha = (float)PISTON_AREA_A/(float)PISTON_AREA_B;
     alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
     PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY);
     PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN);

--- a/main.cpp	Tue May 12 06:23:22 2020 +0000
+++ b/main.cpp	Fri May 15 03:25:15 2020 +0000
@@ -76,6 +76,8 @@
 extern int CID_TX_VOUT;
 extern int CID_TX_VALVE_POSITION;
 
+float I_REF_fil_DZ = 0.0f;
+
 // =============================================================================
 // =============================================================================
 // =============================================================================
@@ -1300,7 +1302,8 @@
             case MODE_JOINT_CONTROL: {
                 double torq_ref = 0.0f;
                 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
-                vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
+                vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
+//                vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
                 
                 //K & D Low Pass Filter
@@ -1311,7 +1314,7 @@
                 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
 
                 // torque feedback
-                torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE)  - torq.sen; //[N]
+                torq.err = torq_ref - torq.sen; //[N]
                 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
 
                 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
@@ -1423,14 +1426,9 @@
             ////////////////////////////////////////////////////////////////////////////
             ////////////////////////////  CURRENT CONTROL //////////////////////////////
             ////////////////////////////////////////////////////////////////////////////
+            
             if (CURRENT_CONTROL_MODE) {
-                double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
-                I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
-
-                I_ERR = I_REF_fil - cur.sen;
-                I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
-
-
+                
                 // Moog Valve Current Control Gain
                 double R_model = 500.0f; // ohm
                 double L_model = 1.2f;
@@ -1446,15 +1444,34 @@
                     KP_I = 1.0f * L_model*w0;
                     KI_I = 0.08f * R_model*w0;
                 }
+                
+                double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
+                I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
+                
+                FLAG_VALVE_DEADZONE = 1;
+                
+                if (FLAG_VALVE_DEADZONE) {
+                    if (I_REF_fil > 0) I_REF_fil_DZ = I_REF_fil + VALVE_DEADZONE_PLUS / 1000.0f; // unit: mA
+                    else if (I_REF_fil < 0) I_REF_fil_DZ = I_REF_fil + VALVE_DEADZONE_MINUS / 1000.0f; // unit: mA
+                    else I_REF_fil_DZ = I_REF_fil + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f / 1000.0f; // unit: mA
+                } else {
+                    I_REF_fil_DZ = I_REF_fil;
+                }
+
+                I_ERR = I_REF_fil_DZ - cur.sen;
+                I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
+
+
+                
 
                 double FF_gain = 1.0f;
 
                 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
                 //        VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
-                I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
-                I_REF_fil_old = I_REF_fil;
-//                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
-                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
+                I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
+                I_REF_fil_old = I_REF_fil_DZ;
+//                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
+                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
                 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
 
                 double Ka = 3.0f / KP_I;
@@ -1479,15 +1496,25 @@
             /////////////////  Dead Zone Cancellation & Linearization //////////////////
             ////////////////////////////////////////////////////////////////////////////
             // Dead Zone Cancellation (Mechanical Valve dead-zone)
-            if (FLAG_VALVE_DEADZONE) {
-                if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
-                else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
+//            if (FLAG_VALVE_DEADZONE) {
+//                if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
+//                else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
+//                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
+//            } else {
+//                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
+//            }
 
-                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
-
-            } else {
+            // VALVE_DEADZONE_PLUS : Current[mA] to start extraction
+            // VALVE_DEADZONE_MINUS : Current[mA] to start contraction
+//            double R_model = 500.0f;
+//            FLAG_VALVE_DEADZONE = true;
+//            if (FLAG_VALVE_DEADZONE) {
+//                if (VALVE_PWM_RAW > 0) VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * R_model / 1000.0f; // unit: mV
+//                else if (VALVE_PWM_RAW < 0) VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * R_model / 1000.0f; // unit: mV
+//                else VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f* R_model / 1000.0f;
+//            } else {
                 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
-            }
+//            }
 
             // Output Voltage Linearization
             double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
@@ -1546,7 +1573,7 @@
                     }
                 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
                     if (SENSING_MODE == 0) {
-                        CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen));
+                        CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
                     } else if (SENSING_MODE == 1) {
                         CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                     }
@@ -1567,8 +1594,8 @@
                 } else {
                     t_value = V_out;
                 }
-                CAN_TX_TORQUE((int16_t) (t_value)); //1300
-                //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
+//                CAN_TX_TORQUE((int16_t) (I_REF_fil_DZ * 1000.0f)); //1300
+                CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
                 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
             }
 

--- a/setting.h	Tue May 12 06:23:22 2020 +0000
+++ b/setting.h	Fri May 15 03:25:15 2020 +0000
@@ -147,8 +147,8 @@
 //extern float I_GAIN_JOINT_TORQUE_OPP;
 //extern float D_GAIN_JOINT_TORQUE_OPP;
 
-extern float VALVE_DEADZONE_PLUS;
-extern float VALVE_DEADZONE_MINUS;
+//extern float VALVE_DEADZONE_PLUS;
+//extern float VALVE_DEADZONE_MINUS;
 
 extern int16_t VELOCITY_COMP_GAIN;
 extern int16_t COMPLIANCE_GAIN;