askuric / arduino-closed-loop-motor-control Goto Github PK
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License: MIT License
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In velocity mode index_search failed
Hi @askuric , I set up a simple test environment, I use arduino 2560 and my motor drive DRV8840.
When I set the index pin:
Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 128, A0);
Connect the A0 pin to the index of the encoder, The motor rotates, but it can never be completed.
DEBUG: Serial debugger enabled!
DEBUG: Initilaise the motor pins.
DEBUG: Set high frequency PWM.
DEBUG: Enabling motor.
DEBUG: Align the encoder and motor electrical 0 angle.
DEBUG: Search for the encoder index.
I tried not to use the index pin, set it to 0, I successfully entered
DEBUG: Serial debugger enabled!
DEBUG: Initilaise the motor pins.
DEBUG: Set high frequency PWM.
DEBUG: Enabling motor.
DEBUG: Align the encoder and motor electrical 0 angle.
DEBUG: Index not available!
Motor ready.
Input the new target velocity:
Through motor_monitor (); I can monitor my motor status very well. But when I input the velocity value between 0-450, the motor will jitter irregularly. After setting the velocity value greater than 500, the motor works well, but the speed will be maintained at around 460 even if I increase the velocity value.
I don't know if this is related to the parameters of PID.
the motor i used 483068
angle control Back and forth
Hi @askuric ,
Today I tested your angle control code. I found it has two issues.
- I adjust the
motor.P_angle.Kvalue to allow the motor to start running smoothly, But it will always oscillate back and forth between target values. the log:
-0.10 10000.00 9999.98
-0.14 10000.00 9999.98
-0.18 10000.00 9999.98
-0.21 10000.00 9999.98
-0.25 10000.00 9999.98
-0.28 10000.00 9999.98
-0.25 10000.00 9999.97
-0.21 10000.00 9999.97
-0.17 10000.00 9999.97
-0.14 10000.00 9999.97
-0.10 10000.00 9999.97
-0.07 10000.00 9999.96
-0.03 10000.00 9999.96
0.00 10000.00 9999.96
0.04 10000.00 9999.96
0.07 10000.00 9999.96
0.11 10000.00 9999.96
0.14 10000.00 9999.96
0.18 10000.00 9999.96
0.22 10000.00 9999.96
0.25 10000.00 9999.96
0.29 10000.00 9999.96
0.32 10000.00 9999.96
0.28 10000.00 9999.97
0.25 10000.00 9999.97
0.21 10000.00 9999.98
0.18 10000.00 9999.98
0.14 10000.00 10000.00
0.11 10000.00 10000.00
0.07 10000.00 10000.01
0.03 10000.00 10000.01
-0.00 10000.00 10000.01
-0.04 10000.00 10000.01
-0.08 10000.00 10000.01
-0.11 10000.00 10000.01
-0.15 10000.00 10000.01
-0.18 10000.00 10000.01
-0.22 10000.00 10000.01
-0.26 10000.00 10000.01
-0.29 10000.00 10000.01
-0.33 10000.00 10000.01
-0.37 10000.00 10000.01
-0.33 10000.00 10000.00
-0.29 10000.00 10000.00
-0.25 10000.00 9999.98
-0.22 10000.00 9999.97
-0.18 10000.00 9999.96
-0.14 10000.00 9999.95
-0.10 10000.00 9999.94
-0.07 10000.00 9999.92
-0.03 10000.00 9999.92
0.00 10000.00 9999.92
-0.03 10000.00 9999.91
0.00 10000.00 9999.91
0.04 10000.00 9999.91
0.07 10000.00 9999.91
0.11 10000.00 9999.91
0.14 10000.00 9999.91
0.18 10000.00 9999.91
0.21 10000.00 9999.91
0.25 10000.00 9999.91
0.28 10000.00 9999.91
0.32 10000.00 9999.91
0.28 10000.00 9999.92
0.25 10000.00 9999.92
0.21 10000.00 9999.94
0.17 10000.00 9999.94
0.14 10000.00 9999.95
0.10 10000.00 9999.95
0.07 10000.00 9999.96
0.03 10000.00 9999.96
-0.00 10000.00 9999.96
-0.04 10000.00 9999.97
-0.07 10000.00 9999.97
-0.11 10000.00 9999.97
-0.15 10000.00 9999.97
-0.18 10000.00 9999.97
-0.15 10000.00 9999.96
-0.11 10000.00 9999.96
-0.08 10000.00 9999.96
-0.04 10000.00 9999.96
-0.01 10000.00 9999.96
0.03 10000.00 9999.96
0.06 10000.00 9999.96
0.10 10000.00 9999.96
0.14 10000.00 9999.96
0.17 10000.00 9999.96
0.21 10000.00 9999.96
0.24 10000.00 9999.96
0.20 10000.00 9999.97
-0.36 10000.00 9999.97
-0.32 10000.00 9999.96
-0.28 10000.00 9999.96
-0.25 10000.00 9999.95
-0.21 10000.00 9999.94
-0.17 10000.00 9999.92
-0.13 10000.00 9999.91
-0.10 10000.00 9999.91
-0.06 10000.00 9999.90
-0.02 10000.00 9999.89
0.01 10000.00 9999.89
-0.03 10000.00 9999.87
0.29 10000.00 9999.87
0.32 10000.00 9999.87
0.29 10000.00 9999.89
0.26 10000.00 9999.89
0.22 10000.00 9999.90
0.19 10000.00 9999.91
0.15 10000.00 9999.91
0.11 10000.00 9999.92
0.08 10000.00 9999.92
0.12 10000.00 9999.94
0.08 10000.00 9999.94
0.05 10000.00 9999.94
0.08 10000.00 9999.95
-0.30 10000.00 9999.95
-0.27 10000.00 9999.94
-0.23 10000.00 9999.94
-0.20 10000.00 9999.94
-0.16 10000.00 9999.92
-0.12 10000.00 9999.92
-0.09 10000.00 9999.92
-0.05 10000.00 9999.91
0.27 10000.00 9999.91
0.23 10000.00 9999.92
0.19 10000.00 9999.92
0.16 10000.00 9999.92
0.12 10000.00 9999.92
0.09 10000.00 9999.92
0.05 10000.00 9999.92
0.02 10000.00 9999.94
-0.02 10000.00 9999.94
-0.05 10000.00 9999.94
-0.09 10000.00 9999.94
-0.12 10000.00 9999.94
-0.16 10000.00 9999.94
-0.19 10000.00 9999.94
-0.23 10000.00 9999.94
-0.20 10000.00 9999.92
-0.16 10000.00 9999.92
-0.12 10000.00 9999.92
-0.09 10000.00 9999.92
-0.05 10000.00 9999.92
-0.02 10000.00 9999.92
0.02 10000.00 9999.92
0.05 10000.00 9999.92
0.09 10000.00 9999.92
0.12 10000.00 9999.92
0.16 10000.00 9999.92
0.19 10000.00 9999.92
0.23 10000.00 9999.92
0.26 10000.00 9999.92
0.30 10000.00 9999.92
0.26 10000.00 9999.94
0.24 10000.00 9999.94
0.21 10000.00 9999.94
0.18 10000.00 9999.95
0.14 10000.00 9999.95
-0.39 10000.00 9999.96
-0.35 10000.00 9999.95
-0.31 10000.00 9999.95
-0.28 10000.00 9999.94
-0.24 10000.00 9999.92
-0.20 10000.00 9999.90
-0.24 10000.00 9999.89
-0.20 10000.00 9999.87
-0.16 10000.00 9999.86
-0.13 10000.00 9999.85
-0.09 10000.00 9999.84
-0.05 10000.00 9999.82
-0.02 10000.00 9999.82
-0.06 10000.00 9999.81
0.33 10000.00 9999.81
0.36 10000.00 9999.81
0.40 10000.00 9999.82
0.43 10000.00 9999.82
0.40 10000.00 9999.84
0.36 10000.00 9999.85
0.32 10000.00 9999.86
0.29 10000.00 9999.89
0.25 10000.00 9999.91
0.21 10000.00 9999.94
0.25 10000.00 9999.95
0.21 10000.00 9999.97
0.18 10000.00 10000.00
0.14 10000.00 10000.02
0.10 10000.00 10000.05
0.06 10000.00 10000.07
0.03 10000.00 10000.08
-0.01 10000.00 10000.11
-0.05 10000.00 10000.12
-0.09 10000.00 10000.14
-0.13 10000.00 10000.14
-0.09 10000.00 10000.16
-0.27 10000.00 10000.17
In the position control loop, it can't reach the target and oscillates back and forth is bad.
- When I started running from position 0 to 10000, the motor stopped several times and did not run smoothly to 10000 as expected.
I have tried many parameters of K Ti velocity_limit voltage_limit, but they have no effect.
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