Motor control

Configuration: <servo nodes> | Nodes: servo

The regulator parameters could be adjusted to tune servo motor behavuir. This driver recieves encoder postion and speed from Encoder interface, commanded position or speed from Ports/controls module, and calculates required motor power control value.

Available generic servo parameters:

  • power - motor power control:
    • no - the motor is completely shut down
    • yes - the motor power is controlled by the variable power_servo
  • debug - when turned on, the servo will output it’s current state to the following variables:
    • user1 - current position
    • user2 - current output power
    • user3 - current speed
    • user4 - current position error
    • user5 - current control channel output from Ports/controls
  • type - motor type:
    • brushed - regular brushed motor
    • FOC - Vector controlled BLDC

Regulator parameters

servo/Regulator

  • regtype - the type of regulator. This setting is applied on reboot.
    • PPI - the P+PI regulator to control position, which is received from Ports/controls channel. The Kpp sets the commanded speed depending on position error, and Kp-Ki controls the motor power to maintain the speed.
    • SPD - The output of Ports/controls sets commanded speed of movement.
    • TORQUE - Ports/controls output is limited by Lo and sets the motor power directly.
  • regspd - The type of control when regtype is SPD.
    • pos - the output of ports channel is used to increment/decement commanded position, and the position is holded the same way as when regtype=PPI
    • speed - The first part of PPI regulator (P) is skipped, i.e. The output of ports channel is a commanded speed to PI regulator.
  • pwm - the power controller PWM frequency, is set in timer units as period, i.e. the value of 8000 is about 20kHz, the common value is 5000.
  • pwm_min - the minimum pulse with for motor in timer units. Must be less than pwm. When set to zero, the driver will automatically set this value to 10% of pwm period. Normally, this value should be tuned so that the motor is moving on minimum commanded power.
  • hyst - the hysteresis applied to commanded speed inside PPI regulator, i.e. when the commanded speed is less than this value, the output power is down. The common value is 0.1-0.5, and it is tuned so that the motor is not responding on encoder noise.
  • dyn - the limit of commanded speed for the motor
  • mrev - to reverse the sign of output motor power (the polarity of motor). The positive power should move the moter clockwise, the negative power - counter clockwise.
  • reg - tuning parameters of the PPI regulator.
    • Kpp - the multiplier for the position error to get the commanded speed
    • Lpp - the limit of commanded speed
    • Kp - the multiplier for the speed error to get the output power
    • Lp - the limit of the outut power component caused by speed error
    • Ki - the bias tracking coeffitient
    • Li - the limit of allowed output power bias
    • Lo - the output power limit

Safety parameters

servo/Safety

The following parameters are used to shut down the motor power in some situations.

  • timeout - when there’s no data on the bus more than this value, the motor power will be shutted down. When set to zero - this feature is off.
  • min - when position from encoder is less than this value - the motor is off
  • max - when position is more than this value - the motor is off
  • otp - when the temperature [C] of the internal switches is more than this value
  • fuse: - the integrator estimates the energy passed through the motor and can protect the motor from burning by decreasing the power if there is long-time constant power applied.
    • time - the time factor
    • level - the power level which is safe for the motor