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PID seems like almost working, but I have a great problem with model!

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This commit is contained in:
Edward V. Emelianov
2025-08-05 18:55:21 +03:00
parent 864e257884
commit 138e4bf84d
16 changed files with 218 additions and 105 deletions
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21
LibSidServo/sidservo.h
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@@ -34,7 +34,7 @@ extern "C"
// acceptable position error - 0.1''
#define MCC_POSITION_ERROR (5e-7)
// acceptable disagreement between motor and axe encoders - 2''
// acceptable disagreement between motor and axis encoders - 2''
#define MCC_ENCODERS_ERROR (1e-7)
// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
@@ -56,10 +56,11 @@ extern "C"
// normal PID refresh interval
#define MCC_PID_REFRESH_DT (0.1)
// boundary conditions for axis state: "slewing/pointing/guiding"
// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 12 degrees
#define MCC_MAX_POINTING_ERR (0.20943951)
// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "slewing": 15''
#define MCC_MAX_GUIDING_ERR (7.272205e-5)
// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 5 degrees
//#define MCC_MAX_POINTING_ERR (0.20943951)
#define MCC_MAX_POINTING_ERR (0.08726646)
// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "guiding": 1.5 deg
#define MCC_MAX_GUIDING_ERR (0.026179939)
// if error less than this value we suppose that target is captured and guiding is good: 0.1''
#define MCC_MAX_ATTARGET_ERR (4.8481368e-7)
@@ -89,7 +90,7 @@ typedef struct{
double EncoderReqInterval; // interval between subsequent encoder requests (seconds)
double EncoderSpeedInterval; // interval between speed calculations
int RunModel; // == 1 if you want to use model instead of real mount
PIDpar_t XPIDC; // gain parameters of PID for both axes (C - coordinate driven, V - velocity driven)
PIDpar_t XPIDC; // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven)
PIDpar_t XPIDV;
PIDpar_t YPIDC;
PIDpar_t YPIDV;
@@ -193,7 +194,7 @@ typedef struct{
double Yatime; // 28
} long_command_t; // long command
// hardware axe configuration
// hardware axis configuration
typedef struct{
double accel; // Default Acceleration, rad/s^2
double backlash; // Backlash (???)
@@ -204,13 +205,13 @@ typedef struct{
double outplimit; // Output Limit, percent (0..100)
double currlimit; // Current Limit (A)
double intlimit; // Integral Limit (???)
} __attribute__((packed)) axe_config_t;
} __attribute__((packed)) axis_config_t;
// hardware configuration
typedef struct{
axe_config_t Xconf;
axis_config_t Xconf;
xbits_t xbits;
axe_config_t Yconf;
axis_config_t Yconf;
ybits_t ybits;
uint8_t address;
double eqrate; // Equatorial Rate (???)