Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_copy1
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Revision 142:43026242815a, committed 2020-10-08
- Comitter:
- Lightvalve
- Date:
- Thu Oct 08 06:10:16 2020 +0000
- Parent:
- 141:4eb8790e7b78
- Child:
- 143:d441540d477e
- Commit message:
- 201008-4
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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;