Updated power limiting to filter on wheel speed#37
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ajmel wants to merge 76 commits intopower-limitingfrom
Open
Updated power limiting to filter on wheel speed#37ajmel wants to merge 76 commits intopower-limitingfrom
ajmel wants to merge 76 commits intopower-limitingfrom
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Updated power limiting by only allowing smaller torques than the largest requested before to be commanded. Resets once wheel speed goes back to zero
daniwhite
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Jan 15, 2019
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daniwhite
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Just some small things to fix. Also I don't wanna approve this until it's tested
src/vcu/src/controls.c
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| power_lim_settings.tMAX = tMAX; | ||
| int32_t tMAX = power_limit/(abs(mc_readings.speed)*628/6000)*10; //Convert RPM to rad/s with 2pi/60, *10 to dNm | ||
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| if (tMAX > 2400) tMAX = 2400; //Cap the maximum tMAX |
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MAX_TORQUE is available to you, you should use that instead.
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I forgot about that, thanks for letting me know.
src/vcu/src/controls.c
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| if (tMAX > 2400) tMAX = 2400; | ||
| if(pedal_torque > tMAX) { | ||
| power_lim_settings.tMAX = tMAX; | ||
| int32_t tMAX = power_limit/(abs(mc_readings.speed)*628/6000)*10; //Convert RPM to rad/s with 2pi/60, *10 to dNm |
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Eventually, you should introduce a sign because we don't want to power limit on regen. But don't worry about that now
Fixed capping max torque
Adds kistler to the can spec
Power limit electrical
Resolved just enough conflicts to compile but code is not correct
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Updated power limiting by only allowing smaller torques than the largest requested before to be commanded. Resets once wheel speed goes back to zero. Currently did not implement timeout to allow for higher torque commands after a certain amount of time -- will do once we confirm that this smoothes out the peaks caused by wheel slip.