- For TORQUE mode, by enabling `ELECTRIC_BRAKE_ENABLE` in `config.h`, the freewheeling amount can be adjusted using the `ELECTRIC_BRAKE_MAX` parameter.
- For VOLTAGE and TORQUE mode, the standstill hold functionality can be forced by enabling `STANDSTILL_HOLD_ENABLE` in `config.h`.
Known (minor) issue: There is a small "tick" noise when Stanstill is engaged/disengaged, due to the switching to SPEED mode. To be solved by an improved mode switching strategy in the future.
#define COM_CTRL 0 // [-] Commutation Control Type
#define SIN_CTRL 1 // [-] Sinusoidal Control Type
#define FOC_CTRL 2 // [-] Field Oriented Control (FOC) Type
#define OPEN_MODE 0 // [-] OPEN mode
#define VLT_MODE 1 // [-] VOLTAGE mode
#define SPD_MODE 2 // [-] SPEED mode
#define TRQ_MODE 3 // [-] TORQUE mode
// Enable/Disable Motor
#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
// Control selections
#define CTRL_TYP_SEL 2 // [-] Control type selection: 0 = Commutation , 1 = Sinusoidal, 2 = FOC Field Oriented Control (default)
#define CTRL_MOD_REQ 1 // [-] Control mode request: 0 = Open mode, 1 = VOLTAGE mode (default), 2 = SPEED mode, 3 = TORQUE mode. Note: SPEED and TORQUE modes are only available for FOC!
#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
#define CTRL_MOD_REQ VLT_MODE // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC!
#define PHASE_ADV_MAX 25 // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
#define FIELD_WEAK_HI 1500 // [-] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
#define FIELD_WEAK_LO 1000 // [-] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
// Extra functionality
// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
// #define ELECTRIC_BRAKE_ENABLE // [-] Flag to enable electric brake and replace the motor "freewheel" with a constant braking when the input torque request is 0. Only available and makes sense for TORQUE mode.
// #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released).
// #define ELECTRIC_BRAKE_THRES 120 // (0, 500) Threshold below at which the electric brake starts engaging.
// ########################### END OF MOTOR CONTROL ########################
#define CTRL_MOD_REQ 3 // HOVERCAR works best in TORQUE Mode
#define CTRL_MOD_REQ TRQ_MODE// HOVERCAR works best in TORQUE Mode
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
@ -369,6 +384,12 @@
#define SIDEBOARD_SERIAL_USART3
#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// Extra functionality
// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
// #define ELECTRIC_BRAKE_ENABLE // [-] Flag to enable electric brake and replace the motor "freewheel" with a constant braking when the input torque request is 0. Only available and makes sense for TORQUE mode.
// #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released).
// #define ELECTRIC_BRAKE_THRES 120 // (0, 500) Threshold below at which the electric brake starts engaging.
#endif
// Multiple tap detection: default DOUBLE Tap on Brake pedal (4 pulses)
@ -46,10 +46,24 @@ In this firmware 3 control types are available:
- Commutation
- SIN (Sinusoidal)
- FOC (Field Oriented Control) with the following 3 control modes:
- **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors
- **SPEED MODE**: in this mode a closed-loop controller realizes the input speed target by rejecting any of the disturbance (resistive load) applied to the motor
- **TORQUE MODE**: in this mode the input torque target is realized. This mode enables motor "freewheeling" when the torque target is `0`. Recommended for most applications with a sitting human driver. If motor braking is desired instead of "freewheel" when torque target is `0`, then a torque target below `0` should be set when `speedAvgAbs > 0`.
- **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors. Recommended for robotics applications or applications where a fast motor response is required.
- **SPEED MODE**: in this mode a closed-loop controller realizes the input speed target by rejecting any of the disturbance (resistive load) applied to the motor. Recommended for robotics applications or constant speed applications.
- **TORQUE MODE**: in this mode the input torque target is realized. This mode enables motor "freewheeling" when the torque target is `0`. Recommended for most applications with a sitting human driver.
#### Comparison between different control methods
|Control method| Complexity | Efficiency | Smoothness | Field Weakening | Freewheeling | Standstill hold |
<sup>(1)</sup> By enabling `ELECTRIC_BRAKE_ENABLE` in `config.h`, the freewheeling amount can be adjusted using the `ELECTRIC_BRAKE_MAX` parameter.
<sup>(2)</sup> The standstill hold functionality can be forced by enabling `STANDSTILL_HOLD_ENABLE` in `config.h`.
In all FOC control modes, the controller features maximum motor speed and maximum motor current protection. This brings great advantages to fulfil the needs of many robotic applications while maintaining safe operation.
uint16_tspeedBlend;// Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
speedBlend=(uint16_t)(((CLAMP(speedAvgAbs,10,60)-10)<<15)/50);// speedBlend [0,1] is within [10 rpm, 60rpm]
#endif
// If Brake pedal (cmd1) is pressed, bring to 0 also the Throttle pedal (cmd2) to avoid "Double pedal" driving
if(cmd1>20){
#ifdef VARIANT_HOVERCAR
if(speedAvgAbs<60){// Check if Hovercar is physically close to standstill to enable Double tap detection on Brake pedal for Reverse functionality
multipleTapDet(cmd1,HAL_GetTick(),&MultipleTapBrake);// Brake pedal in this case is "cmd1" variable
}
if(cmd1>30){// If Brake pedal (cmd1) is pressed, bring to 0 also the Throttle pedal (cmd2) to avoid "Double pedal" driving
cmd2=(int16_t)((cmd2*speedBlend)>>15);
}
#endif
#ifdef ELECTRIC_BRAKE_ENABLE
electricBrake(speedBlend,MultipleTapBrake.b_multipleTap);// Apply Electric Brake. Only available and makes sense for TORQUE Mode
#endif
// Make sure the Brake pedal is opposite to the direction of motion AND it goes to 0 as we reach standstill (to avoid Reverse driving by Brake pedal)
if(speedAvg>0){
#ifdef VARIANT_HOVERCAR
if(speedAvg>0){// Make sure the Brake pedal is opposite to the direction of motion AND it goes to 0 as we reach standstill (to avoid Reverse driving by Brake pedal)
cmd1=(int16_t)((-cmd1*speedBlend)>>15);
}else{
cmd1=(int16_t)((cmd1*speedBlend)>>15);
}
#endif
// ####### GENERAL TIMEOUT #######
if(timeoutCnt>TIMEOUT){// Bring the system to a Safe State
EmanuelFeru
5 years ago