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Diff: main.cpp
- Revision:
- 142:43026242815a
- Parent:
- 141:4eb8790e7b78
- Child:
- 143:d441540d477e
diff -r 4eb8790e7b78 -r 43026242815a main.cpp --- a/main.cpp Thu Oct 08 03:44:03 2020 +0000 +++ b/main.cpp Thu Oct 08 06:10:16 2020 +0000 @@ -1720,7 +1720,7 @@ } } float tau = 0.01f; - float K_valve = 0.04f; + float K_valve = 0.0004f; float x_v = 0.0f; //x_v : -1~1 if(value>=VALVE_CENTER) { @@ -1740,11 +1740,10 @@ torq.err = torq.ref - torq.sen; //[N] torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] - float k3 = 2000.0f; - float k4 = 1000.0f; - float rho3 = 2.0f; -// float rho4 = 50000.0f; - float rho4 = 100000.0f; + float k3 = 20000.0f; //2000 + float k4 = 10.0f; + float rho3 = 3.2f; + float rho4 = 25000000.0f; float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); if (x_4_des > 1) x_4_des = 1; else if (x_4_des < -1) x_4_des = -1; @@ -1761,7 +1760,7 @@ V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; - float rho_gamma = 10000.0f; + float rho_gamma = 50000.0f;//5000 float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; break;