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askuricaskuric
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FEAT added PI tuning example
1 parent 16cfe08 commit 301e5e9

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11 files changed

+397
-18
lines changed

11 files changed

+397
-18
lines changed

‎examples/encoder_examples/HMBGC_example/HMBGC_example.ino

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Original file line numberDiff line numberDiff line change
@@ -48,7 +48,6 @@ void setup() {
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// set FOC loop to be used
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// ControlType::voltage
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// ControlType::velocity
51-
// ControlType::velocity_ultra_slow
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// ControlType::angle
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motor.controller = ControlType::velocity;
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@@ -114,7 +113,6 @@ void loop() {
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// significantly slowing the execution down!!!!
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void motor_monitor() {
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switch (motor.controller) {
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case ControlType::velocity_ultra_slow:
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case ControlType::velocity:
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Serial.print(motor.voltage_q);
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Serial.print("\t");

‎examples/encoder_examples/angle_control/angle_control.ino

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@@ -66,7 +66,6 @@ void setup() {
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// set FOC loop to be used
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// ControlType::voltage
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// ControlType::velocity
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// ControlType::velocity_ultra_slow
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// ControlType::angle
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motor.controller = ControlType::angle;
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@@ -139,7 +138,6 @@ void loop() {
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// significantly slowing the execution down!!!!
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void motor_monitor() {
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switch (motor.controller) {
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case ControlType::velocity_ultra_slow:
143141
case ControlType::velocity:
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Serial.print(motor.voltage_q);
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Serial.print("\t");

‎examples/encoder_examples/change_direction/change_direction.ino

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Original file line numberDiff line numberDiff line change
@@ -57,7 +57,6 @@ void setup() {
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// set FOC loop to be used
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// ControlType::voltage
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// ControlType::velocity
60-
// ControlType::velocity_ultra_slow
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// ControlType::angle
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motor.controller = ControlType::velocity;
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@@ -128,7 +127,6 @@ void loop() {
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// significantly slowing the execution down!!!!
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void motor_monitor() {
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switch (motor.controller) {
131-
case ControlType::velocity_ultra_slow:
132130
case ControlType::velocity:
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Serial.print(motor.voltage_q);
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Serial.print("\t");

‎examples/encoder_examples/velocity_PI_tuning/velocity_PI_tuning.ino

Lines changed: 207 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,207 @@
1+
#include <SimpleFOC.h>
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// Only pins 2 and 3 are supported
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#define arduinoInt1 2 // Arduino UNO interrupt 0
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#define arduinoInt2 3 // Arduino UNO interrupt 1
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7+
// BLDCMotor( int phA, int phB, int phC, int pp, int en)
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// - phA, phB, phC - motor A,B,C phase pwm pins
9+
// - pp - pole pair number
10+
// - enable pin - (optional input)
11+
BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
12+
// Encoder(int encA, int encB , int cpr, int index)
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// - encA, encB - encoder A and B pins
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// - ppr - impulses per rotation (cpr=ppr*4)
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// - index pin - (optional input)
16+
Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192);
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18+
// Interrupt rutine intialisation
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// channel A and B callbacks
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void doA(){encoder.handleA();}
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void doB(){encoder.handleB();}
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void setup() {
25+
// debugging port
26+
Serial.begin(115200);
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28+
// check if you need internal pullups
29+
// Quadrature::ENABLE - CPR = 4xPPR - default
30+
// Quadrature::DISABLE - CPR = PPR
31+
encoder.quadrature = Quadrature::ENABLE;
32+
33+
// check if you need internal pullups
34+
// Pullup::EXTERN - external pullup added - dafault
35+
// Pullup::INTERN - needs internal arduino pullup
36+
encoder.pullup = Pullup::EXTERN;
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38+
// initialise encoder hardware
39+
encoder.init();
40+
// hardware interrupt enable
41+
encoder.enableInterrupts(doA, doB);
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43+
// power supply voltage
44+
// default 12V
45+
motor.voltage_power_supply = 12;
46+
47+
// set control loop type to be used
48+
// ControlType::voltage
49+
// ControlType::velocity
50+
// ControlType::angle
51+
motor.controller = ControlType::velocity;
52+
53+
// contoller configuration based on the controll type
54+
// velocity PI controller parameters
55+
// default P=0.5 I = 10
56+
motor.PI_velocity.P = 0.2;
57+
motor.PI_velocity.I = 20;
58+
//defualt voltage_power_supply/2
59+
motor.PI_velocity.voltage_limit = 6;
60+
// jerk control using voltage voltage ramp
61+
// default value is 300 volts per sec ~ 0.3V per millisecond
62+
motor.PI_velocity.voltage_ramp = 1000;
63+
64+
// velocity low pass filtering
65+
// default 5ms - try different values to see what is the best.
66+
// the lower the less filtered
67+
motor.LPF_velocity.Tf = 0.01;
68+
69+
// use debugging with serial for motor init
70+
// comment out if not needed
71+
motor.useDebugging(Serial);
72+
73+
// link the motor to the sensor
74+
motor.linkSensor(&encoder);
75+
76+
// intialise motor
77+
motor.init();
78+
// align encoder and start FOC
79+
motor.initFOC();
80+
81+
Serial.println("FOC ready.\n");
82+
Serial.println("Update all the PI contorller paramters from the serial temrinal:");
83+
Serial.println("- Type P100.2 to you the PI_velocity.P in 100.2");
84+
Serial.println("- Type I72.32 to you the PI_velocity.I in 72.32\n");
85+
Serial.println("Update the time constant of the velocity filter:");
86+
Serial.println("- Type F0.03 to you the LPF_velocity.Tf in 0.03\n");
87+
Serial.println("Check the loop executoion time (average):");
88+
Serial.println("- Type T\n");
89+
Serial.println("To change the target valeocity just enter the value without any prefix.\n");
90+
91+
Serial.println("Initial control parameters:");
92+
Serial.print("PI velocity P: ");
93+
Serial.print(motor.PI_velocity.P);
94+
Serial.print(",\t I: ");
95+
Serial.print(motor.PI_velocity.I);
96+
Serial.print(",\t Low passs filter Tf: ");
97+
Serial.println(motor.LPF_velocity.Tf,4);
98+
99+
_delay(1000);
100+
}
101+
102+
// velocity set point variable
103+
float target_velocity = 0;
104+
// loop stats variables
105+
unsigned long t = 0;
106+
long timestamp = _micros();
107+
108+
void loop() {
109+
// iterative state calculation calculating angle
110+
// and setting FOC pahse voltage
111+
// the faster you run this funciton the better
112+
// in arduino loop it should have ~1kHz
113+
// the best would be to be in ~10kHz range
114+
motor.loopFOC();
115+
116+
// iterative function setting the outter loop target
117+
// velocity, position or voltage
118+
// this funciton can be run at much lower frequency than loopFOC funciton
119+
// it can go as low as ~50Hz
120+
motor.move(target_velocity);
121+
122+
// function intended to be used with serial plotter to monitor motor variables
123+
// significantly slowing the execution down!!!!
124+
// motor_monitor();
125+
126+
// keep track of loop number
127+
t++;
128+
}
129+
130+
// utility function intended to be used with serial plotter to monitor motor variables
131+
// significantly slowing the execution down!!!!
132+
void motor_monitor() {
133+
switch (motor.controller) {
134+
case ControlType::velocity:
135+
Serial.print(motor.voltage_q);
136+
Serial.print("\t");
137+
Serial.print(motor.shaft_velocity_sp);
138+
Serial.print("\t");
139+
Serial.println(motor.shaft_velocity);
140+
break;
141+
case ControlType::angle:
142+
Serial.print(motor.voltage_q);
143+
Serial.print("\t");
144+
Serial.print(motor.shaft_angle_sp);
145+
Serial.print("\t");
146+
Serial.println(motor.shaft_angle);
147+
break;
148+
case ControlType::voltage:
149+
Serial.print(motor.voltage_q);
150+
Serial.print("\t");
151+
Serial.println(motor.shaft_velocity);
152+
break;
153+
}
154+
}
155+
156+
// Serial communication callback function
157+
// gets the target value from the user
158+
void serialEvent() {
159+
// a string to hold incoming data
160+
static String inputString;
161+
while (Serial.available()) {
162+
// get the new byte:
163+
char inChar = (char)Serial.read();
164+
// add it to the inputString:
165+
inputString += inChar;
166+
// if the incoming character is a newline
167+
// end of input
168+
if (inChar == '\n') {
169+
if(inputString.charAt(0) == 'P'){
170+
motor.PI_velocity.P = inputString.substring(1).toFloat();
171+
Serial.print("PI velocity P: ");
172+
Serial.print(motor.PI_velocity.P);
173+
Serial.print(",\t I: ");
174+
Serial.print(motor.PI_velocity.I);
175+
Serial.print(",\t Low passs filter Tf: ");
176+
Serial.println(motor.LPF_velocity.Tf,4);
177+
}else if(inputString.charAt(0) == 'I'){
178+
motor.PI_velocity.I = inputString.substring(1).toFloat();
179+
Serial.print("PI velocity P: ");
180+
Serial.print(motor.PI_velocity.P);
181+
Serial.print(",\t I: ");
182+
Serial.print(motor.PI_velocity.I);
183+
Serial.print(",\t Low passs filter Tf: ");
184+
Serial.println(motor.LPF_velocity.Tf,4);
185+
}else if(inputString.charAt(0) == 'F'){
186+
motor.LPF_velocity.Tf = inputString.substring(1).toFloat();
187+
Serial.print("PI velocity P: ");
188+
Serial.print(motor.PI_velocity.P);
189+
Serial.print(",\t I: ");
190+
Serial.print(motor.PI_velocity.I);
191+
Serial.print(",\t Low passs filter Tf: ");
192+
Serial.println(motor.LPF_velocity.Tf,4);
193+
}else if(inputString.charAt(0) == 'T'){
194+
Serial.print("Average loop time is (microseconds): ");
195+
Serial.println((_micros() - timestamp)/t);
196+
t = 0;
197+
timestamp = _micros();
198+
}else{
199+
target_velocity = inputString.toFloat();
200+
Serial.print("Tagret Velocity: ");
201+
Serial.println(target_velocity);
202+
inputString = "";
203+
}
204+
inputString = "";
205+
}
206+
}
207+
}

‎examples/encoder_examples/velocity_control/velocity_control.ino

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -66,7 +66,6 @@ void setup() {
6666
// set control loop type to be used
6767
// ControlType::voltage
6868
// ControlType::velocity
69-
// ControlType::velocity_ultra_slow
7069
// ControlType::angle
7170
motor.controller = ControlType::velocity;
7271

@@ -130,7 +129,6 @@ void loop() {
130129
// significantly slowing the execution down!!!!
131130
void motor_monitor() {
132131
switch (motor.controller) {
133-
case ControlType::velocity_ultra_slow:
134132
case ControlType::velocity:
135133
Serial.print(motor.voltage_q);
136134
Serial.print("\t");

‎examples/encoder_examples/voltage_control/voltage_control.ino

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Original file line numberDiff line numberDiff line change
@@ -46,7 +46,6 @@ void setup() {
4646
// set FOC loop to be used
4747
// ControlType::voltage
4848
// ControlType::velocity
49-
// ControlType::velocity_ultra_slow
5049
// ControlType::angle
5150
motor.controller = ControlType::voltage;
5251

@@ -95,7 +94,6 @@ void loop() {
9594
// significantly slowing the execution down!!!!
9695
void motor_monitor() {
9796
switch (motor.controller) {
98-
case ControlType::velocity_ultra_slow:
9997
case ControlType::velocity:
10098
Serial.print(motor.voltage_q);
10199
Serial.print("\t");

‎examples/magnetic_sensor_examples/angle_control/angle_control.ino

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Original file line numberDiff line numberDiff line change
@@ -30,7 +30,6 @@ void setup() {
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// set FOC loop to be used
3131
// ControlType::voltage
3232
// ControlType::velocity
33-
// ControlType::velocity_ultra_slow
3433
// ControlType::angle
3534
motor.controller = ControlType::angle;
3635

@@ -102,7 +101,6 @@ void loop() {
102101
// significantly slowing the execution down!!!!
103102
void motor_monitor() {
104103
switch (motor.controller) {
105-
case ControlType::velocity_ultra_slow:
106104
case ControlType::velocity:
107105
Serial.print(motor.voltage_q);
108106
Serial.print("\t");

‎examples/magnetic_sensor_examples/change_direction/change_direction.ino

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -30,7 +30,6 @@ void setup() {
3030
// set FOC loop to be used
3131
// ControlType::voltage
3232
// ControlType::velocity
33-
// ControlType::velocity_ultra_slow
3433
// ControlType::angle
3534
motor.controller = ControlType::velocity;
3635

@@ -101,7 +100,6 @@ void loop() {
101100
// significantly slowing the execution down!!!!
102101
void motor_monitor() {
103102
switch (motor.controller) {
104-
case ControlType::velocity_ultra_slow:
105103
case ControlType::velocity:
106104
Serial.print(motor.voltage_q);
107105
Serial.print("\t");

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