I implemented the current ramp but I could not test in detail because lack of time. But for my tests, most the lag is gone although there is still some that I think is because of torque sensor low pass filter on hardware.
There is some tweaking that can be done, I put low conservative values and I didn´t had time to find good final ones. Jabalat or others, please test and change the parameters and report.
config.h file on motor controller sources:
First, I did lower the duty_cycle ramp values (maybe they could be even lower??):
Code:
#define PWM_DUTY_CYCLE_RAMP_UP_INVERSE_STEP 20
#define PWM_DUTY_CYCLE_RAMP_DOWN_INVERSE_STEP 20
And now the configuration for the ramp current step, that I did for 5 amps per second. For instance, using half of the value 1953 will increase to 10 amps per second. This value will give the acceleration of torque/current, higher values should put higher stress on gears... but what is a god value??
Code:
// Target: ramp 5 amps per second
// every second has 15625 PWM cycles interrupts
// 1 ADC battery current step --> 0.625 amps
// 5 / 0.625 = 8 (we need to do 8 steps ramp up per second)
// 15625 / 8 = 1953
#define ADC_BATTERY_CURRENT_RAMP_UP_INVERSE_STEP 1953
And here the new piece of code that makes the current ramp (no need to change), runs at 1/15625 second (PWM cycles interrupts):
Code:
/****************************************************************************/
// Implement ramp up ADC battery current
if (ui8_adc_target_battery_max_current > ui8_controller_adc_battery_max_current)
{
if (ui16_counter_adc_battery_current_ramp_up++ >= ADC_BATTERY_CURRENT_RAMP_UP_INVERSE_STEP)
{
ui16_counter_adc_battery_current_ramp_up = 0;
ui8_controller_adc_battery_max_current++;
}
}
else if (ui8_adc_target_battery_max_current < ui8_controller_adc_battery_max_current)
{
// we are not doing a ramp down here, just reducing to the target value
ui8_controller_adc_battery_max_current = ui8_adc_target_battery_max_current;
}
/****************************************************************************/
I could run some tests from the master branch if some more validation is needed.
