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Diff: main.cpp
- Revision:
- 137:ccf70b9b1705
- Parent:
- 136:7e66fc71af40
- Child:
- 138:a843f32ced33
diff -r 7e66fc71af40 -r ccf70b9b1705 main.cpp --- a/main.cpp Tue Oct 06 11:29:47 2020 +0000 +++ b/main.cpp Tue Oct 06 12:06:45 2020 +0000 @@ -1559,16 +1559,16 @@ } case MODE_JOINT_CONTROL: { -// float Amm = 236.4f; -// float beta = 1300000000.0f; -// float Ps = 10000000.0f; //100bar = 100*10^5 Pa -// float Pt = 0.0f; // 0bar = 0Pa - float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 - float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 + +// float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 +// float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 + + float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 + float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f - float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -1.05*10^-4 + float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 137076 float g3_prime = 0.0f; if (torq.sen > Amm*(Ps-Pt)*0.000001f){ @@ -1583,8 +1583,8 @@ } } float tau = 0.01f; -// float K_valve = 0.00004f; - float K_valve = 0.4f; + float K_valve = 0.00004f; +// float K_valve = 0.4f; float x_v = 0.0f; //x_v : -1~1 if(value>=VALVE_CENTER) { @@ -1595,7 +1595,7 @@ float f4 = -x_v/tau; float g4 = K_valve/tau; - float torq_ref_dot = torq.ref_diff / (float) TMR_FREQ_5k; + float torq_ref_dot = torq.ref_diff * (float) TMR_FREQ_5k; 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] @@ -1604,21 +1604,21 @@ torq.err = torq.ref - torq.sen; //[N] torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] - float k3 = 1.0f; - float k4 = 1.0f; + float k3 = 10.0f; + float k4 = 10000.0f; float rho3 = 1.0f; - float rho4 = 1.0f; + float rho4 = 0.0001f; 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; - float x_4_des_dot = (x_4_des - x_4_des_old)/(float) TMR_FREQ_5k; + float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; x_4_des_old = x_4_des; 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 = 1.0f; 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; + gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; /*