Ben Katz
Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
Diff: Calibration/calibration.cpp
- Revision:
- 23:2adf23ee0305
- Parent:
- 22:60276ba87ac6
- Child:
- 24:58c2d7571207
--- a/Calibration/calibration.cpp Fri Mar 31 18:24:46 2017 +0000
+++ b/Calibration/calibration.cpp Wed Apr 05 20:54:16 2017 +0000
@@ -3,43 +3,51 @@
///
#include "calibration.h"
-
+#include "foc.h"
+#include "PreferenceWriter.h"
+#include "user_config.h"
-void order_phases(PositionSensor *ps, GPIOStruct *gpio){
+void order_phases(PositionSensor *ps, GPIOStruct *gpio, ControllerStruct *controller, PreferenceWriter *prefs){
///Checks phase order, to ensure that positive Q current produces
///torque in the positive direction wrt the position sensor.
-
printf("\n\r Checking phase ordering\n\r");
float theta_ref = 0;
float theta_actual = 0;
- float v_d = .2; //Put all volts on the D-Axis
+ float v_d = .2; //Put all volts on the D-Axis
float v_q = 0.0;
float v_u, v_v, v_w = 0;
float dtc_u, dtc_v, dtc_w = .5;
int sample_counter = 0;
///Set voltage angle to zero, wait for rotor position to settle
- abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); //inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); //inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
for(int i = 0; i<20000; i++){
- TIM1->CCR3 = 0x708*(1.0f-dtc_u); // Set duty cycles
+ TIM1->CCR3 = 0x708*(1.0f-dtc_u); // Set duty cycles
TIM1->CCR2 = 0x708*(1.0f-dtc_v);
TIM1->CCR1 = 0x708*(1.0f-dtc_w);
wait_us(100);
}
//ps->ZeroPosition();
ps->Sample();
- float theta_start = ps->GetMechPosition(); //get initial rotor position
-
+ wait_us(1000);
+ float theta_start = ps->GetMechPosition(); //get initial rotor position
+ controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings
+ controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
+ controller->i_a = -controller->i_b - controller->i_c;
+ dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
+ float current = sqrt(pow(controller->i_d, 2) + pow(controller->i_q, 2));
+ printf("\n\rCurrent\n\r");
+ printf("%f %f %f\n\r\n\r", controller->i_d, controller->i_q, current);
/// Rotate voltage angle
- while(theta_ref < 4*PI){ //rotate for 2 electrical cycles
- abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); //inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
+ while(theta_ref < 4*PI){ //rotate for 2 electrical cycles
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); //inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
wait_us(100);
- TIM1->CCR3 = 0x708*(1.0f-dtc_u); //Set duty cycles
+ TIM1->CCR3 = 0x708*(1.0f-dtc_u); //Set duty cycles
TIM1->CCR2 = 0x708*(1.0f-dtc_v);
TIM1->CCR1 = 0x708*(1.0f-dtc_w);
- ps->Sample(); //sample position sensor
+ ps->Sample(); //sample position sensor
theta_actual = ps->GetMechPosition();
if(sample_counter > 200){
sample_counter = 0 ;
@@ -52,41 +60,39 @@
int direction = (theta_end - theta_start)>0;
printf("Theta Start: %f Theta End: %f\n\r", theta_start, theta_end);
printf("Direction: %d\n\r", direction);
- if(direction){printf("Phaseing correct\n\r");}
+ if(direction){printf("Phasing correct\n\r");}
else if(!direction){printf("Phasing incorrect. Swapping phases V and W\n\r");}
gpio->phasing = direction;
-
+ PHASE_ORDER = direction;
}
-
-void calibrate(PositionSensor *ps, GPIOStruct *gpio){
+void calibrate(PositionSensor *ps, GPIOStruct *gpio, ControllerStruct *controller, PreferenceWriter *prefs){
/// Measures the electrical angle offset of the position sensor
/// and (in the future) corrects nonlinearity due to position sensor eccentricity
-
printf("Starting calibration procedure\n\r");
- const int n = 128*NPP; // number of positions to be sampled per mechanical rotation. Multiple of NPP for filtering reasons (see later)
- const int n2 = 10; // increments between saved samples (for smoothing motion)
- float delta = 2*PI*NPP/(n*n2); // change in angle between samples
- float error_f[n] = {0}; // error vector rotating forwards
- float error_b[n] = {0}; // error vector rotating backwards
+ const int n = 128*NPP; // number of positions to be sampled per mechanical rotation. Multiple of NPP for filtering reasons (see later)
+ const int n2 = 10; // increments between saved samples (for smoothing motion)
+ float delta = 2*PI*NPP/(n*n2); // change in angle between samples
+ float error_f[n] = {0}; // error vector rotating forwards
+ float error_b[n] = {0}; // error vector rotating backwards
int raw_f[n] = {0};
int raw_b[n] = {0};
float theta_ref = 0;
float theta_actual = 0;
- float v_d = .2; // Put volts on the D-Axis
+ float v_d = .2; // Put volts on the D-Axis
float v_q = 0.0;
float v_u, v_v, v_w = 0;
float dtc_u, dtc_v, dtc_w = .5;
///Set voltage angle to zero, wait for rotor position to settle
- abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
for(int i = 0; i<40000; i++){
- TIM1->CCR3 = 0x708*(1.0f-dtc_u); // Set duty cycles
- if(gpio->phasing){
+ TIM1->CCR3 = 0x708*(1.0f-dtc_u); // Set duty cycles
+ if(gpio->phasing){
TIM1->CCR2 = 0x708*(1.0f-dtc_v);
TIM1->CCR1 = 0x708*(1.0f-dtc_w);
}
@@ -97,12 +103,16 @@
wait_us(100);
}
ps->Sample();
-
- for(int i = 0; i<n; i++){ // rotate forwards
+ controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings
+ controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
+ controller->i_a = -controller->i_b - controller->i_c;
+ dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
+ float current = sqrt(pow(controller->i_d, 2) + pow(controller->i_q, 2));
+ for(int i = 0; i<n; i++){ // rotate forwards
for(int j = 0; j<n2; j++){
theta_ref += delta;
- abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
TIM1->CCR3 = 0x708*(1.0f-dtc_u);
if(gpio->phasing){
TIM1->CCR2 = 0x708*(1.0f-dtc_v);
@@ -122,11 +132,12 @@
printf("%.4f %.4f %d\n\r", theta_ref/(NPP), theta_actual, raw_f[i]);
//theta_ref += delta;
}
- for(int i = 0; i<n; i++){ // rotate backwards
+ printf(" Current Angle : Rotor Angle : Raw Encoder \n\r\n\r");
+ for(int i = 0; i<n; i++){ // rotate backwards
for(int j = 0; j<n2; j++){
theta_ref -= delta;
- abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
TIM1->CCR3 = 0x708*(1.0f-dtc_u);
if(gpio->phasing){
TIM1->CCR2 = 0x708*(1.0f-dtc_v);
@@ -139,8 +150,8 @@
wait_us(100);
ps->Sample();
}
- ps->Sample(); // sample position sensor
- theta_actual = ps->GetMechPosition(); // get mechanical position
+ ps->Sample(); // sample position sensor
+ theta_actual = ps->GetMechPosition(); // get mechanical position
error_b[i] = theta_ref/NPP - theta_actual;
raw_b[i] = ps->GetRawPosition();
printf("%.4f %.4f %d\n\r", theta_ref/(NPP), theta_actual, raw_b[i]);
@@ -149,53 +160,65 @@
float offset = 0;
for(int i = 0; i<n; i++){
- offset += (error_f[i] + error_b[n-1-i])/(2.0f*n); // calclate average position sensor offset
+ offset += (error_f[i] + error_b[n-1-i])/(2.0f*n); // calclate average position sensor offset
}
- offset = fmod(offset*NPP, 2*PI); // convert mechanical angle to electrical angle
- printf("Encoder Electrical Offset (rad) %f\n\r", offset);
+ offset = fmod(offset*NPP, 2*PI); // convert mechanical angle to electrical angle
+
- ps->SetElecOffset(offset); // Set position sensor offset
+ ps->SetElecOffset(offset); // Set position sensor offset
+ __float_reg[0] = offset;
+ E_OFFSET = offset;
/// Perform filtering to linearize position sensor eccentricity
/// FIR n-sample average, where n = number of samples in one electrical cycle
/// This filter has zero gain at electrical frequency and all integer multiples
- /// So cogging should also be completely filtered out.
+ /// So cogging should be completely filtered out.
float error[n] = {0};
- int window = 128;
+ const int window = 128;
float error_filt[n] = {0};
+ float cogging_current[window] = {0};
float mean = 0;
- for (int i = 0; i<n; i++){ //Average the forward and back directions
+ for (int i = 0; i<n; i++){ //Average the forward and back directions
error[i] = 0.5f*(error_f[i] + error_b[n-i-1]);
}
for (int i = 0; i<n; i++){
for(int j = 0; j<window; j++){
- int ind = -window/2 + j + i; // Indexes from -window/2 to + window/2
+ int ind = -window/2 + j + i; // Indexes from -window/2 to + window/2
if(ind<0){
- ind += n;} // Moving average wraps around
+ ind += n;} // Moving average wraps around
else if(ind > n-1) {
ind -= n;}
error_filt[i] += error[ind]/(float)window;
}
+ if(i<window){
+ cogging_current[i] = current*sinf((error[i] - error_filt[i])*NPP);
+ }
//printf("%.4f %4f %.4f %.4f\n\r", error[i], error_filt[i], error_f[i], error_b[i]);
mean += error_filt[i]/n;
}
- int raw_offset = (raw_f[0] + raw_b[n-1])/2; //Insensitive to errors in this direction, so 2 points is plenty
+ int raw_offset = (raw_f[0] + raw_b[n-1])/2; //Insensitive to errors in this direction, so 2 points is plenty
const int n_lut = 128;
int lut[n_lut];
- for (int i = 0; i<n_lut; i++){ // build lookup table
+ printf("\n\r Encoder non-linearity compensation table\n\r");
+ printf(" Sample Number : Lookup Index : Lookup Value : Cogging Current Lookup\n\r\n\r");
+ for (int i = 0; i<n_lut; i++){ // build lookup table
int ind = (raw_offset>>7) + i;
if(ind > (n_lut-1)){
ind -= n_lut;
}
lut[ind] = (int) ((error_filt[i*NPP] - mean)*(float)(ps->GetCPR())/(2.0f*PI));
- printf("%d %d %d %d\n\r", raw_offset>>7, i, ind, lut[ind]);
+ printf("%d %d %d %f\n\r", i, ind, lut[ind], cogging_current[i]);
}
- ps->WriteLUT(lut); // write lookup table to position sensor object
-
+
+ ps->WriteLUT(lut); // write lookup table to position sensor object
+ //memcpy(controller->cogging, cogging_current, sizeof(controller->cogging)); //compensation doesn't actually work yet....
+ memcpy(&ENCODER_LUT, lut, sizeof(lut));
+ printf("\n\rEncoder Electrical Offset (rad) %f\n\r", offset);
-
-
-
-
+ if (!prefs->ready()) prefs->open();
+ prefs->flush();
+ //prefs->close();
+
+
}
\ No newline at end of file