Revision 7:ed19a937daa0, committed 2016-11-06

Comitter:

dicarloj

Date:

Sun Nov 06 03:09:28 2016 +0000

Parent:

6:7310f31aa49e

Commit message:

works at 200V

Changed in this revision

--- a/config.h	Sat Nov 05 20:20:48 2016 +0000
+++ b/config.h	Sun Nov 06 03:09:28 2016 +0000
@@ -7,13 +7,13 @@
 
 #define K_SERIAL_BAUD 115200 //serial over USB baud rate
 
-#define K_V_BUS             200.0f   //HV battery voltage
+#define K_V_BUS             160.0f   //HV battery voltage
 #define K_Q_CURRENT_MAX     200.0f   //max torque 
-#define K_Q_CURRENT_MIN     -1.0f   //max regen torque
-#define K_P_CURRENT         1.0f    //current loop kp
-#define K_I_CURRENT         0.1f    //current loop ki
-#define K_CURRENT_INT_MAX  20.0f    //current loop integral max
-#define K_AXIS_V_MAX       11000.0f //current loop axis voltage max
+#define K_Q_CURRENT_MIN     0.0f   //max regen torque
+#define K_P_CURRENT         3.0f    //current loop kp
+#define K_I_CURRENT         0.05f    //current loop ki
+#define K_CURRENT_INT_MAX  (K_V_BUS*0.866f)    //current loop integral max
+#define K_AXIS_V_MAX       (K_V_BUS/2.0f) //current loop axis voltage max
 
 
 #define K_POS_OFFSET       (- 5.78f + M_PI + 0.03f) //electrical position offset

--- a/foc.cpp	Sat Nov 05 20:20:48 2016 +0000
+++ b/foc.cpp	Sun Nov 06 03:09:28 2016 +0000
@@ -116,22 +116,27 @@
     float beta_i = (i_c - i_b)/SQRT_3;
 
     //convert from alpha, beta to q,d
-    float alpha = 0.1;
+    float alpha = .3;
     float d_i =  alpha * (alpha_i * cos_theta_e - beta_i * sin_theta_e) + (1 - alpha) * d_i;
     float q_i =  alpha * (alpha_i * sin_theta_e + beta_i * cos_theta_e) + (1 - alpha) * q_i;
-    
+    //DAC->DHR12R1 = (int)(q_i * 200);
     //calculate error integral
-    q_int += (q_command - q_i) * K_I;
-    d_int += (d_command - d_i) * K_I;
+    q_int += (q_command - q_i) * K_I * K_P;
+    d_int += (d_command - d_i) * K_I * K_P;
 
     //prevent integral windup
-    q_int = fabs(q_int) > integral_max ? integral_max * (q_int > 0 ? 1 : -1) : q_int;
-    d_int = fabs(d_int) > integral_max ? integral_max * (d_int > 0 ? 1 : -1) : d_int;
+    //q_int = fabs(q_int) > integral_max ? integral_max * (q_int > 0 ? 1 : -1) : q_int;
+    //d_int = fabs(d_int) > integral_max ? integral_max * (d_int > 0 ? 1 : -1) : d_int;
+    if(q_int > K_CURRENT_INT_MAX) q_int = K_CURRENT_INT_MAX;
+    if(q_int < -K_CURRENT_INT_MAX) q_int = -K_CURRENT_INT_MAX;
+    
+    if(d_int > K_CURRENT_INT_MAX) d_int = K_CURRENT_INT_MAX;
+    if(d_int < -K_CURRENT_INT_MAX) d_int = -K_CURRENT_INT_MAX;
 
     //calculate q, d axis voltages
     float q_v = K_P * (q_command - q_i) + q_int;
     float d_v = K_P * (d_command - d_i) + d_int;
-plot(0, q_v); plot(1, d_v);
+//plot(0, q_v); plot(1, d_v);
     //limit axis voltages
     q_v = fabs(q_v) > axis_v_max ? axis_v_max * (q_v > 0 ? 1 : -1) : q_v;
     d_v = fabs(d_v) > axis_v_max ? axis_v_max * (d_v > 0 ? 1 : -1) : d_v;

--- a/io.cpp	Sat Nov 05 20:20:48 2016 +0000
+++ b/io.cpp	Sun Nov 06 03:09:28 2016 +0000
@@ -104,9 +104,12 @@
     /************************************
                 ADC/DAC START
     *************************************/
+    //     RCC->APB1ENR |= 0x20000000; // Enable clock for DAC
+    // DAC->CR |= 0x00000001; // DAC control reg, both channels ON
+     GPIOA->MODER |= 0x00000300; // PA04 as analog output   
     ADC1->CR2 |= ADC_CR2_ADON; //adc 1 on
     ADC2->CR2 |= ADC_CR2_ADON; //adc 2 on
-    DAC->CR   |= DAC_CR_EN2;   //dac 2 (PA5) on
+    //DAC->CR   |= DAC_CR_EN2;   //dac 2 (PA5) on
     
     //get_serial(0)->printf("Turning on TIMER\n");
     /************************************
@@ -137,7 +140,7 @@
  
     TIM2->CR1   = 0x0001;
     TIM2->SMCR  = TIM_ENCODERMODE_TI12;
-    TIM2->CCMR1 = 0xf1f1;
+    TIM2->CCMR1 = 0x0101;
     TIM2->CCMR2 = 0x0000;
     TIM2->CCER  = 0x0011;
     TIM2->PSC   = 0x0000;
@@ -223,13 +226,16 @@
     return size; //we finished the loop so buffer is full, all bytes read.
 }
 
+
 //interrupt handler for encoder index
 void handle_index()
 {
     if (index_in->read())
     {
         if(index_in->read())
-            TIM2->CNT=0;
+        {
+                TIM2->CNT=0;
+        }
     }
 }
 

--- a/main.cpp	Sat Nov 05 20:20:48 2016 +0000
+++ b/main.cpp	Sun Nov 06 03:09:28 2016 +0000
@@ -6,13 +6,13 @@
 
 
 int main() {
-    init_plotter(9);
+    //init_plotter(9);
     setup();
     while(true)
     {
         wait(0.1);
         //plot(0, 0.2);
-        send_message();
+        //send_message();
     }
     
 }

--- a/vehicle_controller.cpp	Sat Nov 05 20:20:48 2016 +0000
+++ b/vehicle_controller.cpp	Sun Nov 06 03:09:28 2016 +0000
@@ -7,11 +7,13 @@
 float filtered_velocity = 0;
 float alpha = .3;
 float vel_int = 0;
+float filtered_throttle = 0;
+float throt_alpha = .002;
 
 //simple current controller
 float current_control(float throttle)
 {
-    return throttle * K_Q_CURRENT_MAX;
+    return (throttle * alpha + filtered_throttle * (1 - alpha)) * K_Q_CURRENT_MAX;
 }
 
 //servo controller