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PI controller update and fixes

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Major:
• all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations

Minor:
• fixed the ADC calibration for potetiometer input when ADCx_MIN > 0
• fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
This commit is contained in:
EmanuelFeru
2019-10-31 22:07:52 +01:00
parent 6a30cfce6c
commit 62873aad57
13 changed files with 893 additions and 831 deletions
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11
Src/main.c
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@@ -63,9 +63,6 @@ extern volatile adc_buf_t adc_buffer;
extern I2C_HandleTypeDef hi2c2;
extern UART_HandleTypeDef huart2;
static int cmd1; // normalized input values. -1000 to 1000
static int cmd2;
typedef struct{
int16_t steer;
int16_t speed;
@@ -76,6 +73,8 @@ static volatile Serialcommand command;
static uint8_t button1, button2;
static int cmd1; // normalized input value. -1000 to 1000
static int cmd2; // normalized input value. -1000 to 1000
static int16_t steer; // local variable for steering. -1000 to 1000
static int16_t speed; // local variable for speed. -1000 to 1000
static int16_t steerFixdt; // local fixed-point variable for steering low-pass filter
@@ -271,14 +270,14 @@ int main(void) {
cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MID, 0, ADC1_MAX - ADC1_MID) * 1000 / (ADC1_MAX - ADC1_MID)
-CLAMP(ADC1_MID - adc_buffer.l_tx2, 0, ADC1_MID - ADC1_MIN) * 1000 / (ADC1_MID - ADC1_MIN); // ADC1
#else
cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) * 1000 / ADC1_MAX; // ADC1
cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) * 1000 / (ADC1_MAX - ADC1_MIN); // ADC1
#endif
#ifdef ADC2_MID_POT
cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MID, 0, ADC2_MAX - ADC2_MID) * 1000 / (ADC2_MAX - ADC2_MID)
-CLAMP(ADC2_MID - adc_buffer.l_rx2, 0, ADC2_MID - ADC2_MIN) * 1000 / (ADC2_MID - ADC2_MIN); // ADC2
#else
cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) * 1000 / ADC2_MAX; // ADC2
cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) * 1000 / (ADC2_MAX - ADC2_MIN); // ADC2
#endif
// use ADCs as button inputs:
@@ -567,7 +566,7 @@ void rateLimiter16(int16_t u, int16_t rate, int16_t *y)
}
}
*y = (int16_T)(q0 + *y);
*y = q0 + *y;
}
// ===========================================================