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asdgas
Dependencies: mbed Eigen FastPWM
Diff: main.cpp
- Revision:
- 54:647072f5307a
- Parent:
- 52:8ea76864368a
- Child:
- 55:b25725257569
diff -r 8ea76864368a -r 647072f5307a main.cpp --- a/main.cpp Wed Feb 19 05:48:57 2020 +0000 +++ b/main.cpp Tue Feb 25 12:56:39 2020 +0000 @@ -64,15 +64,6 @@ State INIT_Pos; State INIT_torq; -float V_out=0.0f; -float V_rem=0.0f; // for anti-windup -float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV - -float PWM_out=0.0f; - -int timer_while = 0; -int while_index = 0; - extern int CID_RX_CMD; extern int CID_RX_REF_POSITION; extern int CID_RX_REF_VALVE_POS; @@ -129,7 +120,7 @@ MODE_TORQUE_SENSOR_NULLING = 20, //20 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 MODE_FIND_HOME, //22 - MODE_VALVE_GAIN_SETTING, //23 + MODE_VALVE_GAIN_SETTING, //23 MODE_PRESSURE_SENSOR_NULLING, //24 MODE_PRESSURE_SENSOR_CALIB, //25 MODE_ROTARY_FRICTION_TUNING, //26 @@ -137,6 +128,7 @@ MODE_DDV_POS_VS_PWM_ID = 30, //30 MODE_DDV_DEADZONE_AND_CENTER, //31 MODE_DDV_POS_VS_FLOWRATE, //32 + MODE_SYSTEM_ID, //33 }; int main() @@ -192,7 +184,7 @@ //Timer priority NVIC_SetPriority(TIM3_IRQn, 2); // NVIC_SetPriority(TIM2_IRQn, 3); - NVIC_SetPriority(TIM4_IRQn, 4); + NVIC_SetPriority(TIM4_IRQn, 3); //can.reset(); can.filter(msg.id, 0xFFFFF000, CANStandard); @@ -340,81 +332,84 @@ return PWM_duty; } + + + + /******************************************************************************* TIMER INTERRUPT *******************************************************************************/ float FREQ_TMR4 = (float)FREQ_20k; float DT_TMR4 = (float)DT_20k; +long CNT_TMR4 = 0; +int TMR4_FREQ_10k = (int)FREQ_10k; extern "C" void TIM4_IRQHandler(void) { - if (TIM4->SR & TIM_SR_UIF ) { /******************************************************* *** Sensor Read & Data Handling ********************************************************/ - - //Using LoadCell -// ADC1->CR2 |= 0x40000000; // adc _ 12bit -// //while((ADC1->SR & 0b10)); -// float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); -// float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f; -// torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque); - - + //Encoder + if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { + ENC_UPDATE(); + } //Pressure sensor A ADC1->CR2 |= 0x40000000; // adc _ 12bit //while((ADC1->SR & 0b10)); float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); -// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; float pres_A_new = ((float)ADC1->DR); pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); - torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 + torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. - //Pressure sensor 1B - //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); - //float pres_B_new = ((float)ADC2->DR); - //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); - //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; - + //Pressure sensor B +// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); +// float pres_B_new = ((float)ADC2->DR); +// pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); +// torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; //Current //ADC3->CR2 |= 0x40000000; // adc _ 12bit -// a1=ADC2->DR; //int raw_cur = ADC3->DR; //while((ADC3->SR & 0b10)); float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); //cur.sen = raw_cur; - - /******************************************************* - *** Timer Counting & etc. - ********************************************************/ - //CNT_TMR4++; + + CNT_TMR4++; } TIM4->SR = 0x0; // reset the status register } int j =0; -//unsigned long CNT_TMR3 = 0; -//float FREQ_TMR3 = (float)FREQ_5k; -float FREQ_TMR3 = (float)FREQ_1k; +float FREQ_TMR3 = (float)FREQ_5k; float DT_TMR3 = (float)DT_5k; -//float DT_TMR3 = (float)DT_1k; int cnt_trans = 0; double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; +int canfreq = CAN_FREQUENCY; extern "C" void TIM3_IRQHandler(void) { if (TIM3->SR & TIM_SR_UIF ) { - ENC_UPDATE(); + + if ((OPERATING_MODE&0b110) == 0) { + K_v = 0.4f; // Moog (LPM >> mA) , 100bar + mV_PER_mA = 500.0f; // 5000mV/10mA + mV_PER_pulse = 0.5f; // 5000mV/10000pulse + mA_PER_pulse = 0.001f; // 10mA/10000pulse + } else if ((OPERATING_MODE&0b110) == 1) { + K_v = 0.5f; // KNR (LPM >> mA) , 100bar + mV_PER_mA = 166.6666f; // 5000mV/30mA + mV_PER_pulse = 0.5f; // 5000mV/10000pulse + mA_PER_pulse = 0.003f; // 30mA/10000pulse + } if(MODE_POS_FT_TRANS == 1) { alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; @@ -437,385 +432,26 @@ } - - // CONTROL LOOP ------------------------------------------------------------ - - switch (CONTROL_MODE) { - case MODE_NO_ACT: { - V_out = 0.0f; - break; - } - - case MODE_VALVE_POSITION_CONTROL: { - VALVE_POS_CONTROL(valve_pos.ref); - break; - } - - case MODE_JOINT_CONTROL: { - - float VALVE_POS_RAW_FORCE_FB = 0.0f; - - pos.err = pos.ref - pos.sen; //[pulse] - vel.err = vel.ref - vel.sen; //[pulse/s] - double torq_ref = 0.0f; - torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N] - - // torque feedback - torq.err = torq_ref - torq.sen; //[pulse] - torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse] -// if (torq.err_sum > 1000) torq.err_sum = 1000; -// if (torq.err_sum<-1000) torq.err_sum = -1000; + int UTILITY_MODE = 0; + int CONTROL_MODE = 0; + + if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { + UTILITY_MODE = CONTROL_UTILITY_MODE; + CONTROL_MODE = MODE_NO_ACT; + } else { + CONTROL_MODE = CONTROL_UTILITY_MODE; + UTILITY_MODE = MODE_NO_ACT; + } - VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f - + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref)); - if (VALVE_POS_RAW_FORCE_FB >= 0) { - valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; - } else { - valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; - } - - if(I_GAIN_JOINT_TORQUE != 0){ - double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f; - if(valve_pos.ref>VALVE_MAX_POS){ - double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; - valve_pos_rem = valve_pos_rem * Ka; - valve_pos.ref = VALVE_MAX_POS; - torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; - } - else if(valve_pos.ref < VALVE_MIN_POS){ - double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; - valve_pos_rem = valve_pos_rem * Ka; - valve_pos.ref = VALVE_MIN_POS; - torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; - } - } - - VALVE_POS_CONTROL(valve_pos.ref); - - break; - } - - case MODE_VALVE_OPEN_LOOP: { - V_out = (float) Vout.ref; - break; - } + // UTILITY MODE ------------------------------------------------------------ - case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: { - float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback - //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward - float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback - //int DDV_JOINT_CAN = 0; - // feedback input for position control - pos.err = pos.ref - (float) pos.sen; - pos.err_diff = pos.err - pos.err_old; - pos.err_old = pos.err; - pos.err_sum += pos.err; - if (pos.err_sum > 1000) pos.err_sum = 1000; - if (pos.err_sum<-1000) pos.err_sum = -1000; - VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum/(float) ENC_PULSE_PER_POSITION + (float) D_GAIN_JOINT_POSITION * pos.err_diff/(float) ENC_PULSE_PER_POSITION; - - - //Ref_Joint_Vel = Ref_Vel_Test; - // feedforward input for position control - // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] - // float K_ff = 0.9f; - // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open - // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close - // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f; - - //torque feedback - torq.err = - torq.ref + torq.sen; - torq.err_diff = torq.err - torq.err_old; - torq.err_old = torq.err; - torq.err_sum += torq.err; - if (torq.err_sum > 1000) torq.err_sum = 1000; - if (torq.err_sum<-1000) torq.err_sum = -1000; - VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; - VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f; - -// valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB; - valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref); - - if (valve_pos.ref >= 0) { - valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS; - } else if(valve_pos.ref < 0) { - valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS; - } - VALVE_POS_CONTROL(valve_pos.ref); - - + switch (UTILITY_MODE) { + case MODE_NO_ACT: { break; } -// case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: { -// -// break; -// } - -// case MODE_JOINT_POSITION_PRES_CONTROL_PWM: { -// pos.err = pos.ref - (float) pos.sen; -// pos.err_diff = pos.err - pos.err_old; -// pos.err_old = pos.err; -// pos.err_sum += pos.err; -// if (pos.err_sum > 1000) pos.err_sum = 1000; -// if (pos.err_sum<-1000) pos.err_sum = -1000; -// VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff)/(float) ENC_PULSE_PER_POSITION; -// -// torq.err = torq.ref - torq.sen; -// torq.err_diff = torq.err - torq.err_old; -// torq.err_old = torq.err; -// torq.err_sum += torq.err; -// if (torq.err_sum > 1000) torq.err_sum = 1000; -// if (torq.err_sum<-1000) torq.err_sum = -1000; -// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; -// -// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f; -// -// V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ; -// -// CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f; -// CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L)) -// if (DIR_VALVE > 0) { -// if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f; -// else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5; -// else VALVE_FF_VOLTAGE = 0; -// } else { -// if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f; -// else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f; -// else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5; -// else VALVE_FF_VOLTAGE = 0; -// } -// // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f; -// -// if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.)) -// else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f; -// -// V_out = V_out + VALVE_FF_VOLTAGE; -// break; -// } - -// case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: { -// -// pos.err = pos.ref - (float) pos.sen; -// pos.err_diff = pos.err - pos.err_old; -// pos.err_old = pos.err; -// pos.err_sum += pos.err; -// if (pos.err_sum > 1000) pos.err_sum = 1000; -// if (pos.err_sum<-1000) pos.err_sum = -1000; -// VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f; -// -// torq.err = torq.ref - torq.sen; -// torq.err_diff = torq.err - torq.err_old; -// torq.err_old = torq.err; -// torq.err_sum += torq.err; -// if (torq.err_sum > 1000) torq.err_sum = 1000; -// if (torq.err_sum<-1000) torq.err_sum = -1000; -// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff; -// -// valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ; -// VALVE_POS_CONTROL(valve_pos.ref); -// -// break; -// } - -// case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: { -// -// break; -// } - - -// case MODE_TEST_CURRENT_CONTROL: { -// if (TMR3_COUNT_IREF == TMR_FREQ_5k) { -// TMR3_COUNT_IREF = 0; -// } -// TMR3_COUNT_IREF++; -// -// // Set Current Reference -// float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; -// float I_REF_MID = 0.0f; -// if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { -// I_REF = I_REF_MID + 1.0f; -// } else { -// I_REF = I_REF_MID - 1.0f; -// } -//// float T = 1.0; // wave period -//// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T)); -//// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))); -// -// if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { -// //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas -// } -// break; -// } - -// case MODE_TEST_PWM_CONTROL: { -// if (TMR3_COUNT_IREF == TMR_FREQ_5k) { -// TMR3_COUNT_IREF = 0; -// } -// TMR3_COUNT_IREF++; -// -// // Set PWM reference -// float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f; -// //float I_REF_MID = 0.0f; -// if (TMR3_COUNT_IREF < TMR3_CNT_MAX) { -// CUR_PWM = 1000; -// } else { -// CUR_PWM = -1000; -// } -// -// if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { -// //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas -// } -// break; -// } - - -// case MODE_CURRENT_CONTROL: { -// -// cur.ref = cur.ref; // Unit : mA -// CurrentControl(); -// break; -// } - -// case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: { -// float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback -// float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward -// float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback -// float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward -// -// // feedback input for position control -// pos.err = pos.ref - pos.sen; -// float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz -// float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; -// pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; -// pos.err_old = pos.err; -// I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); -// -// // feedforward input for position control -// float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] -// float K_ff = 1.3f; -// float K_v = 0.0f; -// if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) -// if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) -// I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; -// -// // feedback input for position control -// I_REF_FORCE_FB = 0.0f; -// -// // feedforward input for position control -// I_REF_FORCE_FF = 0.0f; -// -// cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; -// -// CurrentControl(); -// -// break; -// } - -// case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: { -// //float T_REF = 0.0; // Torque Reference -// float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback -// float I_REF_VC = 0.; // I_REF for velocity compensation -// -// // feedback input for position control -// //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] -// //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] -// //float K_spring = 0.7f; -// //float D_damper = 0.02f; -//// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm -// -// // torque feedback -// torq.err = torq.ref - torq.sen; -// // torq.err_diff = torq.err - torq.err_old; -// // torq.err_old = torq.err; -// torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k; -// I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum); -// -// // velocity compensation for torque control -// float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] -// float K_vc = 1.5f; // Velocity comp. gain -// float K_v = 0.0f; // Valve gain -// if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning -// if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning -// I_REF_VC = K_vc*K_v*Joint_Vel_Act; -// -// cur.ref = I_REF_VC + I_REF_FORCE_FB; -// // cur.ref = I_REF_FORCE_FB; -// -// float I_MAX = 10.0f; // Maximum Current : 10mV -// float Ka = 1.0f/I_GAIN_JOINT_TORQUE; -// if(cur.ref > I_MAX) { -// float I_rem = cur.ref-I_MAX; -// I_rem = Ka*I_rem; -// cur.ref = I_MAX; -// torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; -// } else if(cur.ref < -I_MAX) { -// float I_rem = cur.ref-(-I_MAX); -// I_rem = Ka*I_rem; -// cur.ref = -I_MAX; -// torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k; -// } -// -// CurrentControl(); -// -// -// /* -// float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback -// float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward -// float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback -// float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward -// -// // feedback input for position control -// pos.err = pos.ref - pos.sen; -// float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz -// float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k; -// pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; -// pos.err_old = pos.err; -// I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f); -// -// // feedforward input for position control -// float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] -// float K_ff = 1.3f; -// float K_v = 0.0f; -// if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA) -// if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA) -// I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; -// -// // feedback input for position control -// I_REF_FORCE_FB = 0.0f; -// -// // feedforward input for position control -// I_REF_FORCE_FF = 0.0f; -// -// cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF; -// -// CurrentControl(); -// */ -// -// break; -// } - case MODE_TORQUE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { @@ -841,61 +477,11 @@ ROM_RESET_DATA(); - //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); - - //pc.printf("%f\n", TORQUE_VREF); dac_1 = TORQUE_VREF / 3.3f; } TMR3_COUNT_TORQUE_NULL++; break; - - - - // // DAC Voltage reference set -// if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { -// CUR_PRES_A_sum += pres_A.sen; -// CUR_PRES_B_sum += pres_B.sen; -// -// if (TMR3_COUNT_PRES_NULL % 10 == 0) { -// CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; -// CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; -// CUR_PRES_A_sum = 0; -// CUR_PRES_B_sum = 0; -// -// float VREF_NullingGain = 0.0003f; -// PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean); -// PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean); -// -// if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; -// if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; -// if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; -// if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; -// -// dac_1 = PRES_A_VREF / 3.3f; -// dac_2 = PRES_B_VREF / 3.3f; -// } -// } else { -// CONTROL_MODE = MODE_NO_ACT; -// TMR3_COUNT_PRES_NULL = 0; -// CUR_PRES_A_sum = 0; -// CUR_PRES_B_sum = 0; -// CUR_PRES_A_mean = 0; -// CUR_PRES_B_mean = 0; -// -// ROM_RESET_DATA(); -// -// dac_1 = PRES_A_VREF / 3.3f; -// dac_2 = PRES_B_VREF / 3.3f; -// //pc.printf("nulling end"); -// } -// TMR3_COUNT_PRES_NULL++; -// break; - - - - - } // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { @@ -983,7 +569,6 @@ pos.ref_home_pos = pos.sen; vel.ref_home_pos = 0.0f; FINDHOME_STAGE = FINDHOME_GOTOLIMIT; - CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3)); } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { int cnt_check_enc = (TMR_FREQ_5k/500); if(cnt_findhome%cnt_check_enc == 0) { @@ -992,7 +577,6 @@ FINDHOME_POSITION_OLD = FINDHOME_POSITION; } cnt_findhome++; - //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0; if (abs(FINDHOME_VELOCITY) <= 1) { cnt_vel_findhome = cnt_vel_findhome + 1; @@ -1000,7 +584,7 @@ cnt_vel_findhome = 0; } - if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec + if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec //REFERENCE_MODE = MODE_REF_NO_ACT; if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f; else pos.ref_home_pos = pos.ref_home_pos - 2.0f; @@ -1049,7 +633,7 @@ pos.ref_home_pos = 0.0f; vel.ref_home_pos = 0.0f; FINDHOME_STAGE = FINDHOME_INIT; - CONTROL_MODE = MODE_JOINT_CONTROL; + CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; } } @@ -1153,7 +737,7 @@ dac_2 = PRES_B_VREF / 3.3f; } } else { - CONTROL_MODE = MODE_NO_ACT; + CONTROL_UTILITY_MODE = MODE_NO_ACT; TMR3_COUNT_PRES_NULL = 0; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; @@ -1251,7 +835,7 @@ } //ROM_RESET_DATA(); ID_index = 0; - CONTROL_MODE = MODE_NO_ACT; + CONTROL_UTILITY_MODE = MODE_NO_ACT; } @@ -1488,7 +1072,7 @@ VALVE_DEADZONE_MINUS = (float) FIRST_DZ; VALVE_DEADZONE_PLUS = (float) SECOND_DZ; - CONTROL_MODE = MODE_NO_ACT; + CONTROL_UTILITY_MODE = MODE_NO_ACT; DZ_index = 1; } } @@ -1564,42 +1148,194 @@ ID_index = 0; first_check = 0; VALVE_FR_timer = 0; - CONTROL_MODE = MODE_NO_ACT; + CONTROL_UTILITY_MODE = MODE_NO_ACT; // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); } } break; } + + case MODE_SYSTEM_ID: { + freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; + valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); + CONTROL_MODE = MODE_VALVE_OPEN_LOOP; + cnt_sysid++; + if (freq_sysid_Iref >= 300) { + cnt_sysid = 0; + CONTROL_UTILITY_MODE = MODE_NO_ACT; + } + break; + } + + + + default: + break; + } + + // CONTROL MODE ------------------------------------------------------------ + + switch (CONTROL_MODE) { + case MODE_NO_ACT: { + V_out = 0.0f; + break; + } + + case MODE_VALVE_POSITION_CONTROL: { + if ((OPERATING_MODE&0b110) == 0) { //Moog Valve + I_REF = valve_pos.ref; + } else if ((OPERATING_MODE&0b110) == 1) { //KNR Valve + V_out = valve_pos.ref; + } else { //SW Valve + VALVE_POS_CONTROL(valve_pos.ref); + } + + break; + } + + case MODE_JOINT_CONTROL: { + + float VALVE_POS_RAW_FORCE_FB = 0.0f; + + + double torq_ref = 0.0f; + //if(TMR3_COUNT_TEST % (int) (50) == 0){ + pos.err = pos.ref - pos.sen; //[pulse] + vel.err = vel.ref - vel.sen; //[pulse/s] + torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N] + //torq_ref_logging = torq_ref + //} + + // torque feedback + torq.err = torq_ref - torq.sen; //[pulse] + torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse] +// if (torq.err_sum > 1000) torq.err_sum = 1000; +// if (torq.err_sum<-1000) torq.err_sum = -1000; + + + VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f + + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref)); + + if (VALVE_POS_RAW_FORCE_FB >= 0) { + valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; + } else { + valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; + } + + if(I_GAIN_JOINT_TORQUE != 0){ + double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f; + if(valve_pos.ref>VALVE_MAX_POS){ + double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; + valve_pos_rem = valve_pos_rem * Ka; + valve_pos.ref = VALVE_MAX_POS; + torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; + } + else if(valve_pos.ref < VALVE_MIN_POS){ + double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; + valve_pos_rem = valve_pos_rem * Ka; + valve_pos.ref = VALVE_MIN_POS; + torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; + } + } + + VALVE_POS_CONTROL(valve_pos.ref); + + //TMR3_COUNT_TEST++; + + break; + } + + case MODE_VALVE_OPEN_LOOP: { + V_out = (float) Vout.ref; + break; + } default: break; } -// if (FLAG_VALVE_OUTPUT_CALIB) { -// // Valve Dead Zone (Mechanical dead-zone canceling) -// // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) { -// // if (V_out > 0.) { -// // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS; -// // } else if (V_out < 0.) { -// // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS; -// // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER; -// // } else VALVE_PWM_VALVE_DZ = (int) V_out; -// -// if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS; -// else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS; -// -// VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER; -// -// // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone) -// float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV -// float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin); -// -// if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143; -// else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138; -// else V_out = CUR_PWM_DZ; -// } else { -// V_out = V_out; -// } + + if ((OPERATING_MODE&0b110) == 0 || (OPERATING_MODE&0b110) == 1) { //Moog Valve or KNR Valve + + //////////////////////////////////////////////////////////////////////////// + //////////////////////////// CURRENT CONTROL ////////////////////////////// + //////////////////////////////////////////////////////////////////////////// + if (CURRENT_CONTROL_MODE) { + double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (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_CURRENT_mA; + I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3; + + + // Moog Valve Current Control Gain + double R_model = 539.0f; // ohm + double L_model = 1.2f; + double w0 = 2.0f * 3.14f * 150.0f; + double KP_I = 0.1f * L_model*w0; + double KI_I = 0.1f * R_model*w0; + + // KNR Valve Current Control Gain + if ((OPERATING_MODE & 0x02) == 1) { // KNR Valve + R_model = 163.0f; // ohm + L_model = 1.0f; + w0 = 2.0f * 3.14f * 80.0f; + KP_I = 1.0f * L_model*w0; + KI_I = 0.08f * R_model*w0; + } + + double FF_gain = 1.0f; + + VALVE_PWM_RAW = KP_I * I_ERR + KI_I * 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 * TMR_FREQ_5k); // Unit : mV + double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV + + double Ka = 3.0f / KP_I; + if (VALVE_PWM_RAW > V_MAX) { + V_rem = VALVE_PWM_RAW - V_MAX; + V_rem = Ka*V_rem; + VALVE_PWM_RAW = V_MAX; + I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3; + } else if (VALVE_PWM_RAW < -V_MAX) { + V_rem = VALVE_PWM_RAW - (-V_MAX); + V_rem = Ka*V_rem; + VALVE_PWM_RAW = -V_MAX; + I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3; + } + Cur_Valve_Open_pulse = CUR_CURRENT_mA / mA_PER_pulse; + } else { + VALVE_PWM_RAW = I_REF * mV_PER_mA; + Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; + } + + //////////////////////////////////////////////////////////////////////////// + ///////////////// 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 + + VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_CENTER * mV_PER_pulse; // unit: mV + + } else { + VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; + } + + // Output Voltage Linearization + double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV + double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); + + // Dead Zone Cancellation (Electrical dead-zone) + if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140; + else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140; + else V_out = CUR_PWM_lin; + } + + /******************************************************* *** PWM @@ -1611,10 +1347,6 @@ } PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV - // Saturation of output voltage to 5.0V -// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667 -// else if (PWM_out < -0.41667) PWM_out=-0.41667; - // Saturation of output voltage to 12.0V if(PWM_out > 1.0f) PWM_out=1.0f; else if (PWM_out < -1.0f) PWM_out=-1.0f; @@ -1634,57 +1366,61 @@ - if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k / CAN_FREQ) == 0) { - - // Position, Velocity, and Torque (ID:1200) - if (flag_data_request[0] == HIGH) { - if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator - if (SENSING_MODE == 0) { - CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); - } else if (SENSING_MODE == 1) { - CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f)); - } - } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator - if (SENSING_MODE == 0) { - CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f)); - } else if (SENSING_MODE == 1) { - CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f)); + if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/canfreq) == 0) { +// if (TMR2_COUNT_CAN_TX % 10 == 0) { + // Position, Velocity, and Torque (ID:1200) + if (flag_data_request[0] == HIGH) { + if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator + if (SENSING_MODE == 0) { + CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); + } else if (SENSING_MODE == 1) { + CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f)); + } + } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator + if (SENSING_MODE == 0) { + CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f)); + } else if (SENSING_MODE == 1) { + CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f)); + } } } - } - if (flag_data_request[1] == HIGH) { - //valve position - double t_value = 0; - if(value>=DDV_CENTER) { - t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER); - } else { - t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER); + if (flag_data_request[1] == HIGH) { + //valve position + double t_value = 0; + if(value>=DDV_CENTER) { + t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER); + } else { + t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER); + } + CAN_TX_TORQUE((int16_t) (t_value)); } - CAN_TX_TORQUE((int16_t) (t_value)); - } - if (flag_data_request[2] == HIGH) { - //pressure A and B - CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar) - } + if (flag_data_request[2] == HIGH) { + //pressure A and B + CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar) + } - if (flag_data_request[3] == HIGH) { - //PWM - CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS); - } + if (flag_data_request[3] == HIGH) { + //PWM + CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS); + } - if (flag_data_request[4] == HIGH) { - //valve position - CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING); - } + if (flag_data_request[4] == HIGH) { + //valve position + CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING); + } - // Others : Reference position, Reference FT, PWM, Current (ID:1300) + // Others : Reference position, Reference FT, PWM, Current (ID:1300) // if (flag_data_request[1] == HIGH) { // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); // } + //if (flag_delay_test == 1){ + //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); + //} - TMR2_COUNT_CAN_TX = 0; - } + TMR2_COUNT_CAN_TX = 0; + } + TMR2_COUNT_CAN_TX++; @@ -1757,39 +1493,39 @@ //} - -void CurrentControl() -{ - cur.err = cur.ref - cur.sen; - cur.err_int = cur.err_int + cur.err*DT_TMR4; - cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4; - cur.err_old = cur.err; - - float R_model = 150.0f; // ohm - float L_model = 0.3f; - float w0 = 2.0f*3.14f*90.0f; - float KP_I = L_model*w0; - float KI_I = R_model*w0; - float KD_I = 0.0f; - - float FF_gain = 0.0f; - V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff); - // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV - V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV - - float Ka = 5.0f/KP_I; - if(V_out > V_MAX) { - V_rem = V_out-V_MAX; - V_rem = Ka*V_rem; - V_out = V_MAX; - cur.err_int = cur.err_int - V_rem*DT_5k; - } else if(V_out < -V_MAX) { - V_rem = V_out-(-V_MAX); - V_rem = Ka*V_rem; - V_out = -V_MAX; - cur.err_int = cur.err_int - V_rem*DT_5k; - } -} +// +//void CurrentControl() +//{ +// cur.err = cur.ref - cur.sen; +// cur.err_int = cur.err_int + cur.err*DT_TMR4; +// cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4; +// cur.err_old = cur.err; +// +// float R_model = 150.0f; // ohm +// float L_model = 0.3f; +// float w0 = 2.0f*3.14f*90.0f; +// float KP_I = L_model*w0; +// float KI_I = R_model*w0; +// float KD_I = 0.0f; +// +// float FF_gain = 0.0f; +// V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff); +// // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV +// V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV +// +// float Ka = 5.0f/KP_I; +// if(V_out > V_MAX) { +// V_rem = V_out-V_MAX; +// V_rem = Ka*V_rem; +// V_out = V_MAX; +// cur.err_int = cur.err_int - V_rem*DT_5k; +// } else if(V_out < -V_MAX) { +// V_rem = V_out-(-V_MAX); +// V_rem = Ka*V_rem; +// V_out = -V_MAX; +// cur.err_int = cur.err_int - V_rem*DT_5k; +// } +//}