WANG YUCHAO
/
Joint_control_2AS5147_DRV8323RH_HKC_FOC__RV
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Revision 56:b050b80bab42, committed 2021-05-16
- Comitter:
- wyc136
- Date:
- Sun May 16 06:53:56 2021 +0000
- Parent:
- 55:489f01927025
- Commit message:
- motor config npp=21,GR=152
Changed in this revision
diff -r 489f01927025 -r b050b80bab42 CAN/CAN_com.h --- a/CAN/CAN_com.h Wed May 12 12:41:39 2021 +0000 +++ b/CAN/CAN_com.h Sun May 16 06:53:56 2021 +0000 @@ -17,9 +17,11 @@ #define V_MIN -15.0f #define V_MAX 15.0f #define KP_MIN 0.0f - #define KP_MAX 500.0f + #define KP_MAX 2000.0f + // #define KP_MAX 500.0f #define KD_MIN 0.0f - #define KD_MAX 5.0f + //#define KD_MAX 5.0f + #define KD_MAX 200.0f // #define T_MIN -18.0f //#define T_MAX 18.0f #define T_MIN -50.0f
diff -r 489f01927025 -r b050b80bab42 Calibration/calibration.cpp
--- a/Calibration/calibration.cpp Wed May 12 12:41:39 2021 +0000
+++ b/Calibration/calibration.cpp Sun May 16 06:53:56 2021 +0000
@@ -18,7 +18,7 @@
float theta_actual = 0;
//float v_d = .15f;
//float v_d = .20f;
- float v_d = .40f; //Put all volts on the D-Axis
+ float v_d = .10f; //Put all volts on the D-Axis
float v_q = 0.0f;
float v_u, v_v, v_w = 0;
float dtc_u, dtc_v, dtc_w = .5f;
@@ -92,7 +92,7 @@
float theta_actual = 0;
//float v_d = .15f;
// float v_d = .20f;
- float v_d = .40f; // Put volts on the D-Axis
+ float v_d = .10f; // Put volts on the D-Axis
float v_q = 0.0f;
float v_u, v_v, v_w = 0;
float dtc_u, dtc_v, dtc_w = .5f;
@@ -497,7 +497,7 @@
//float v_d = .15f;
//float v_d = .18f;
- float v_d = .60f; // Put volts on the D-Axis
+ float v_d = .10f; // Put volts on the D-Axis
float v_q = 0.0f;
float v_u, v_v, v_w = 0;
float dtc_u, dtc_v, dtc_w = .5f;
@@ -582,12 +582,14 @@
theta_joint_actual = jps->GetMechPositionFixed();
//error_joint_b[i] = theta_joint_ref*(1+1/GR)/NPP - theta_joint_actual;
- error_joint_b[i] = (theta_joint_ref-(1/GR)*theta_ref)/NPP -theta_joint_actual;
+ // error_joint_b[i] = (theta_joint_ref-(1/GR)*theta_ref)/NPP -theta_joint_actual;
+ error_joint_b[i] = (theta_joint_ref+(1/GR)*theta_ref)/NPP -theta_joint_actual; //hjb 202105
joint_raw_b[i] = jps->GetRawPosition();//-raw_b[i]/GR;
//printf("%.4f %.4f %d-\n\r", theta_ref*(1+1/GR)/(NPP), theta_joint_actual, joint_raw_b[i]);
- printf("%.4f %.4f %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_b[i]);
+ // printf("%.4f %.4f %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_b[i]);
+ printf("%.4f %.4f %d\n\r", (theta_joint_ref+(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_b[i]);//Hjb 202105
//theta_ref -= delta;
}
diff -r 489f01927025 -r b050b80bab42 Config/motor_config.h --- a/Config/motor_config.h Wed May 12 12:41:39 2021 +0000 +++ b/Config/motor_config.h Sun May 16 06:53:56 2021 +0000 @@ -13,7 +13,7 @@ #define KT .08f//.075f //N-m per peak phase amp, = WB*NPP*3/2 #define NPP 21 //Number of pole pairs //#define GR 1.0f //Gear ratio -#define GR 49.0f //Gear ratio +#define GR 151.0f //Gear ratio #define KT_OUT 7.12//3.92f//0.45f //KT*GR #define WB 0.00287f //Webers. #define R_TH 1.25f //Kelvin per watt
diff -r 489f01927025 -r b050b80bab42 main.cpp
--- a/main.cpp Wed May 12 12:41:39 2021 +0000
+++ b/main.cpp Sun May 16 06:53:56 2021 +0000
@@ -10,7 +10,7 @@
#define ENCODER_MODE 5
#define TEST_TRAJECTORY_MODE 6
#define J_CALIBRATION_MODE 7
-#define VERSION_NUM "1.6"
+#define VERSION_NUM "2.1_RV_50Nm"
float __float_reg[64]; // Floats stored in flash
@@ -57,7 +57,7 @@
PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP
PositionSensorMA700 ma700(16384,0.0,NPP); //shaorui add(12/10)
-volatile int count = 0;
+volatile int count1 = 0;
volatile int state = REST_MODE;
volatile int state_change;
volatile float Joint_init =0; //Joint intial angle
@@ -221,7 +221,6 @@
state=MOTOR_MODE;
state_change=1;
//enter_torque_mode();
- count = 0;
printf("test\n\r");
controller.p_des=0;
controller.v_des = 1.5f;
@@ -291,7 +290,7 @@
controller.dtheta_elec1 = ma700.GetElecVelocity();
///hjb add joint angle
- controller.theta_joint_raw= -(ma700.GetMechPosition()+spi.GetMechPosition());
+ controller.theta_joint_raw= (ma700.GetMechPosition()+spi.GetMechPosition());//the direction of spi.get turn '-' when using RV
//if(controller.dtheta_mech>0) {controller.theta_joint_raw += PI/180.0f;} //compensate
// else if(controller.dtheta_mech<0) {controller.theta_joint_raw -= PI/180.0f;}
if(controller.theta_joint_raw<0){controller.theta_joint_raw += 2.0f*PI;}
@@ -387,7 +386,7 @@
case MOTOR_MODE: // Run torque control
if(state_change){
enter_torque_mode();
- count = 0;
+ count1 = 0;
}
else{
/*
@@ -399,7 +398,7 @@
printf("OVP Triggered!\n\r");
}
*/
-
+ count1++;
torque_control(&controller);
if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
@@ -414,11 +413,11 @@
controller.timeout += 1;
- count++;
+
/*
- if(count == 4000){
+ if(count1 == 4000){
printf("%.4f\n\r", controller.dtheta_mech);
- count = 0;
+ count1 = 0;
}
*/
@@ -692,13 +691,13 @@
printf("test position:%.3f\n\r",(1.0f/GR)* spi.GetMechPosition());
}
-
+ //printf("test position:real mebh SPI %.3f OUT %.3f\n\r",(1.0f/GR)* spi.GetMechPosition(),ma700.GetMechPosition());//wyc 2021.05.14
- if(count >= 40000){
- printf("J_init: %.3f Pref: %.3f preal: %.3f JM: %.3d one: %.3f two: %.3f\n\r",Joint_init*57.2957795,(1.0f/GR)*spi.GetMechPosition()*57.2957795,controller.theta_mech*57.2957795,J_M_flag ,controller.Ncycle_mod*57.2957795-controller.Mech_mod*57.2957795/GR,(controller.theta_joint- controller.theta_joint_raw)*57.2957795);
- // printf("Pref: %.3f qian: %.3f hou: %.3f M: %.3d \n\r", (1.0f/GR)*spi.GetMechPosition()*57.2957795,controller.theta_joint_raw*57.2957795,controller.theta_mech*57.2957795,J_M_flag);
+ if(count1 >= 40000){
+ // printf("J_init: %.3f Pref: %.3f preal: %.3f JM: %.3d one: %.3f two: %.3f\n\r",Joint_init*57.2957795,(1.0f/GR)*spi.GetMechPosition()*57.2957795,controller.theta_mech*57.2957795,J_M_flag ,controller.Ncycle_mod*57.2957795-controller.Mech_mod*57.2957795/GR,(controller.theta_joint- controller.theta_joint_raw)*57.2957795);
+ printf("Pref: %.3f qian: %.3f hou: %.3f M: %.3d \n\r", (1.0f/GR)*spi.GetMechPosition()*57.2957795,controller.theta_joint_raw*57.2957795,controller.theta_mech*57.2957795,J_M_flag);
// printf("v: %.3f v1: %.3f \n\r",controller.dtheta_mech*57.2957795,controller.dtheta_mech1*57.2957795);
- count = 0;
+ count1 = 0;
}
i++;
diff -r 489f01927025 -r b050b80bab42 mbed-dev.lib --- a/mbed-dev.lib Wed May 12 12:41:39 2021 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://os.mbed.com/users/benkatz/code/mbed-dev-f303/#36facd806e4a
diff -r 489f01927025 -r b050b80bab42 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun May 16 06:53:56 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file