Sungwoo Kim
distribution-201229
Diff: main.cpp
- Revision:
- 54:647072f5307a
- Parent:
- 52:8ea76864368a
- Child:
- 55:b25725257569
--- 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;
+// }
+//}