From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sat, 16 May 2015 15:00:23 +0000 (+0200)
Subject: Speed regulation with zero error.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/e5be33166fa28644d8931ab754db8a7c99204364

Speed regulation with zero error.
---

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
index 640002f..82d5390 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -76,7 +76,6 @@ static void dutySet(struct rpi_state* state, int duty){
 	state->pos_reg_ena=0;
 	state->spd_reg_ena=0;
 	state->commutate=1;
-	printf("duty=");
 	sem_post(&state->thd_par_sem);
 }
 
diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index dd2372d..3d13ff2 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -27,7 +27,8 @@
 
 
 #define PID_P		0.3
-#define PID_P_S		0.7
+#define PID_P_S		0.9	/*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S		0.01
 
 #define PRIOR_KERN	50
 #define PRIOR_HIGH	49
@@ -55,7 +56,8 @@ struct rpi_state rps={
 	.pos_reg_ena=0,
 	.desired_spd=0,
 	.spd_reg_ena=0,
-	.old_pos={0}
+	.old_pos={0},
+	.spd_err_sum=0
 };
 
 /**
@@ -539,7 +541,10 @@ inline void pos_pid(){
  */
 inline void spd_pid(){
 	int duty_tmp;
-	duty_tmp = PID_P_S*(rps.desired_spd - rps.speed);
+	int error;
+	error=rps.desired_spd - rps.speed;
+	rps.spd_err_sum+=error;
+	duty_tmp = PID_P_S*error+PID_I_S*rps.spd_err_sum;
 	if (duty_tmp>MAX_DUTY){
 		rps.duty=MAX_DUTY;
 	}else if (duty_tmp<-MAX_DUTY){
diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
index 3cd648f..32c8d74 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -31,6 +31,8 @@ struct rpi_state{
 	char commutate;			/* zapina prepocet duty na jednotlive pwm */
 	char pos_reg_ena;		/* position regulation enable */
 	char spd_reg_ena;		/* speed rugulation enable */
+
+	int spd_err_sum;		/* for speed pid regulator */
 };
 
 #endif /*PMSM_STATE*/