#include <sot/torque_control/current-controller.hh>

Inheritance diagram for CurrentController:

Collaboration diagram for CurrentController:

Public Member Functions
	CurrentController (const std::string &name)

	DECLARE_SIGNAL_IN (bemf_factor, dynamicgraph::Vector)
	Joint velocities; used to compensate for BEMF effect on low level current loop. More...

	DECLARE_SIGNAL_IN (dead_zone_offsets, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (dq, dynamicgraph::Vector)
	gain from input to output control values More...

	DECLARE_SIGNAL_IN (i_des, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (i_max, dynamicgraph::Vector)
	proportional current feedback gain More...

	DECLARE_SIGNAL_IN (i_max_dead_zone_compensation, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (i_measured, dynamicgraph::Vector)
	desired motor currents More...

	DECLARE_SIGNAL_IN (i_sens_gains, dynamicgraph::Vector)
	motor currents More...

	DECLARE_SIGNAL_IN (i_sensor_offsets_low_level, dynamicgraph::Vector)
	value of current tracking error at which deadzone is completely compensated More...

	DECLARE_SIGNAL_IN (i_sensor_offsets_real_in, dynamicgraph::Vector)
	offset of the current sensors seen by the low level More...

	DECLARE_SIGNAL_IN (in_out_gain, dynamicgraph::Vector)
	values at which to saturate the control (in bits) More...

	DECLARE_SIGNAL_IN (ki_current, dynamicgraph::Vector)
	proportional current feedback gain More...

	DECLARE_SIGNAL_IN (kp_current, dynamicgraph::Vector)
	gains of current sensors More...

	DECLARE_SIGNAL_IN (percentage_bemf_compensation, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (percentage_dead_zone_compensation, dynamicgraph::Vector)
	current control dead zone offsets More...

	DECLARE_SIGNAL_IN (u_max, dynamicgraph::Vector)
	max current allowed before stopping the controller (in Ampers) More...

	DECLARE_SIGNAL_IN (u_saturation, dynamicgraph::Vector)
	max desired current allowed before stopping the controller (in Ampers) More...

	DECLARE_SIGNAL_OUT (dead_zone_compensation, dynamicgraph::Vector)
	real offset of the current sensors More...

	DECLARE_SIGNAL_OUT (i_errors, dynamicgraph::Vector)
	dead-zone compensation current applied by the controller More...

	DECLARE_SIGNAL_OUT (i_errors_ll_wo_bemf, dynamicgraph::Vector)
	current tracking error More...

	DECLARE_SIGNAL_OUT (i_low_level, dynamicgraph::Vector)
	current measurements after gain and offset compensation More...

	DECLARE_SIGNAL_OUT (i_real, dynamicgraph::Vector)
	same as u when everything is fine, 0 otherwise More...

	DECLARE_SIGNAL_OUT (i_sensor_offsets_real_out, dynamicgraph::Vector)
	current measurements as seen by low-level ctrl More...

	DECLARE_SIGNAL_OUT (u, dynamicgraph::Vector)
	real offset of the current sensors More...

	DECLARE_SIGNAL_OUT (u_safe, dynamicgraph::Vector)

virtual void	display (std::ostream &os) const

void	init (const double &dt, const std::string &robotRef, const unsigned int &currentOffsetIters)

void	reset_integral ()
	current tracking error without BEMF effect More...

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)

Protected Attributes
dynamicgraph::Vector	m_avg_i_err_neg

dynamicgraph::Vector	m_avg_i_err_pos

unsigned int	m_currentOffsetIters
	time to sleep at every iteration (to slow down simulation) More...

double	m_dt

dynamicgraph::Vector	m_dz_coeff

bool	m_emergency_stop_triggered
	true if the entity has been successfully initialized More...

dynamicgraph::Vector	m_i_err_integr

dynamicgraph::Vector	m_i_offsets_real

bool	m_initSucceeded

bool	m_is_first_iter
	control loop time period More...

int	m_iter
	true at the first iteration, false otherwise More...

RobotUtilShrPtr	m_robot_util

double	m_sleep_time

Detailed Description

Definition at line 47 of file current-controller.hh.

Constructor & Destructor Documentation

◆ CurrentController()

CurrentController ( const std::string & name )

Definition at line 44 of file current-controller.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/17]

DECLARE_SIGNAL_IN	(	bemf_factor	,
		dynamicgraph::Vector
	)

Joint velocities; used to compensate for BEMF effect on low level current loop.

◆ DECLARE_SIGNAL_IN() [2/17]

DECLARE_SIGNAL_IN	(	dead_zone_offsets	,
		dynamicgraph::Vector
	)

percentage in [0;1] of the motor back-EMF that we should compensate 0 is none, 1 is all of it

◆ DECLARE_SIGNAL_IN() [3/17]

DECLARE_SIGNAL_IN	(	dq	,
		dynamicgraph::Vector
	)

gain from input to output control values

◆ DECLARE_SIGNAL_IN() [4/17]

DECLARE_SIGNAL_IN	(	i_des	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [5/17]

DECLARE_SIGNAL_IN	(	i_max	,
		dynamicgraph::Vector
	)

proportional current feedback gain

◆ DECLARE_SIGNAL_IN() [6/17]

DECLARE_SIGNAL_IN	(	i_max_dead_zone_compensation	,
		dynamicgraph::Vector
	)

percentage in [0;1] of the motor driver dead zone that we should compensate 0 is none, 1 is all of it

◆ DECLARE_SIGNAL_IN() [7/17]

DECLARE_SIGNAL_IN	(	i_measured	,
		dynamicgraph::Vector
	)

desired motor currents

◆ DECLARE_SIGNAL_IN() [8/17]

DECLARE_SIGNAL_IN	(	i_sens_gains	,
		dynamicgraph::Vector
	)

motor currents

◆ DECLARE_SIGNAL_IN() [9/17]

DECLARE_SIGNAL_IN	(	i_sensor_offsets_low_level	,
		dynamicgraph::Vector
	)

value of current tracking error at which deadzone is completely compensated

◆ DECLARE_SIGNAL_IN() [10/17]

DECLARE_SIGNAL_IN	(	i_sensor_offsets_real_in	,
		dynamicgraph::Vector
	)

offset of the current sensors seen by the low level

◆ DECLARE_SIGNAL_IN() [11/17]

DECLARE_SIGNAL_IN	(	in_out_gain	,
		dynamicgraph::Vector
	)

values at which to saturate the control (in bits)

◆ DECLARE_SIGNAL_IN() [12/17]

DECLARE_SIGNAL_IN	(	ki_current	,
		dynamicgraph::Vector
	)

proportional current feedback gain

◆ DECLARE_SIGNAL_IN() [13/17]

DECLARE_SIGNAL_IN	(	kp_current	,
		dynamicgraph::Vector
	)

gains of current sensors

◆ DECLARE_SIGNAL_IN() [14/17]

DECLARE_SIGNAL_IN	(	percentage_bemf_compensation	,
		dynamicgraph::Vector
	)

Link between velocity and current; to compensate for BEMF effect on low level current loop (in A/rad.s-1)

◆ DECLARE_SIGNAL_IN() [15/17]

DECLARE_SIGNAL_IN	(	percentage_dead_zone_compensation	,
		dynamicgraph::Vector
	)

current control dead zone offsets

◆ DECLARE_SIGNAL_IN() [16/17]

DECLARE_SIGNAL_IN	(	u_max	,
		dynamicgraph::Vector
	)

max current allowed before stopping the controller (in Ampers)

◆ DECLARE_SIGNAL_IN() [17/17]

DECLARE_SIGNAL_IN	(	u_saturation	,
		dynamicgraph::Vector
	)

max desired current allowed before stopping the controller (in Ampers)

◆ DECLARE_SIGNAL_OUT() [1/8]

DECLARE_SIGNAL_OUT	(	dead_zone_compensation	,
		dynamicgraph::Vector
	)

real offset of the current sensors

◆ DECLARE_SIGNAL_OUT() [2/8]

DECLARE_SIGNAL_OUT	(	i_errors	,
		dynamicgraph::Vector
	)

dead-zone compensation current applied by the controller

◆ DECLARE_SIGNAL_OUT() [3/8]

DECLARE_SIGNAL_OUT	(	i_errors_ll_wo_bemf	,
		dynamicgraph::Vector
	)

current tracking error

◆ DECLARE_SIGNAL_OUT() [4/8]

DECLARE_SIGNAL_OUT	(	i_low_level	,
		dynamicgraph::Vector
	)

current measurements after gain and offset compensation

◆ DECLARE_SIGNAL_OUT() [5/8]

DECLARE_SIGNAL_OUT	(	i_real	,
		dynamicgraph::Vector
	)

same as u when everything is fine, 0 otherwise

◆ DECLARE_SIGNAL_OUT() [6/8]

DECLARE_SIGNAL_OUT	(	i_sensor_offsets_real_out	,
		dynamicgraph::Vector
	)

current measurements as seen by low-level ctrl

◆ DECLARE_SIGNAL_OUT() [7/8]

DECLARE_SIGNAL_OUT	(	u	,
		dynamicgraph::Vector
	)

real offset of the current sensors

◆ DECLARE_SIGNAL_OUT() [8/8]

DECLARE_SIGNAL_OUT	(	u_safe	,
		dynamicgraph::Vector
	)

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 337 of file current-controller.cpp.

◆ init()

void init	(	const double &	dt,
		const std::string &	robotRef,
		const unsigned int &	currentOffsetIters
	)

Initialize

Parameters

dt	control interval
currentOffsetIters	number of iterations while control is disabled to calibrate current sensors. The recommended way is to use the signal max_current.

Definition at line 96 of file current-controller.cpp.

◆ reset_integral()

void reset_integral ( )

current tracking error without BEMF effect

Definition at line 331 of file current-controller.cpp.

◆ sendMsg()

void sendMsg	(	const std::string &	msg,
		MsgType	t = `MSG_TYPE_INFO`,
		const char *	= `""`,
		int	= `0`
	)

inline

Definition at line 109 of file current-controller.hh.

Member Data Documentation

◆ m_avg_i_err_neg

dynamicgraph::Vector m_avg_i_err_neg

protected

Definition at line 129 of file current-controller.hh.

◆ m_avg_i_err_pos

dynamicgraph::Vector m_avg_i_err_pos

protected

Definition at line 128 of file current-controller.hh.

◆ m_currentOffsetIters

unsigned int m_currentOffsetIters

protected

time to sleep at every iteration (to slow down simulation)

Definition at line 122 of file current-controller.hh.

◆ m_dt

double m_dt

protected

Definition at line 117 of file current-controller.hh.

◆ m_dz_coeff

dynamicgraph::Vector m_dz_coeff

protected

Definition at line 126 of file current-controller.hh.

◆ m_emergency_stop_triggered

bool m_emergency_stop_triggered

protected

true if the entity has been successfully initialized

Definition at line 116 of file current-controller.hh.

◆ m_i_err_integr

dynamicgraph::Vector m_i_err_integr

protected

Definition at line 124 of file current-controller.hh.

◆ m_i_offsets_real

dynamicgraph::Vector m_i_offsets_real

protected

Definition at line 123 of file current-controller.hh.

◆ m_initSucceeded

bool m_initSucceeded

protected

Definition at line 115 of file current-controller.hh.

◆ m_is_first_iter

bool m_is_first_iter

protected

control loop time period

Definition at line 118 of file current-controller.hh.

◆ m_iter

int m_iter

protected

true at the first iteration, false otherwise

Definition at line 119 of file current-controller.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util

protected

Definition at line 114 of file current-controller.hh.

◆ m_sleep_time

double m_sleep_time

protected

Definition at line 120 of file current-controller.hh.

The documentation for this class was generated from the following files:

include/sot/torque_control/current-controller.hh
src/current-controller.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CurrentController()

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/17]

◆ DECLARE_SIGNAL_IN() [2/17]

◆ DECLARE_SIGNAL_IN() [3/17]

◆ DECLARE_SIGNAL_IN() [4/17]

◆ DECLARE_SIGNAL_IN() [5/17]

◆ DECLARE_SIGNAL_IN() [6/17]

◆ DECLARE_SIGNAL_IN() [7/17]

◆ DECLARE_SIGNAL_IN() [8/17]

◆ DECLARE_SIGNAL_IN() [9/17]

◆ DECLARE_SIGNAL_IN() [10/17]

◆ DECLARE_SIGNAL_IN() [11/17]

◆ DECLARE_SIGNAL_IN() [12/17]

◆ DECLARE_SIGNAL_IN() [13/17]

◆ DECLARE_SIGNAL_IN() [14/17]

◆ DECLARE_SIGNAL_IN() [15/17]

◆ DECLARE_SIGNAL_IN() [16/17]

◆ DECLARE_SIGNAL_IN() [17/17]

◆ DECLARE_SIGNAL_OUT() [1/8]

◆ DECLARE_SIGNAL_OUT() [2/8]

◆ DECLARE_SIGNAL_OUT() [3/8]

◆ DECLARE_SIGNAL_OUT() [4/8]

◆ DECLARE_SIGNAL_OUT() [5/8]

◆ DECLARE_SIGNAL_OUT() [6/8]

◆ DECLARE_SIGNAL_OUT() [7/8]

◆ DECLARE_SIGNAL_OUT() [8/8]

◆ display()

◆ init()

◆ reset_integral()

◆ sendMsg()

Member Data Documentation

◆ m_avg_i_err_neg

◆ m_avg_i_err_pos

◆ m_currentOffsetIters

◆ m_dt

◆ m_dz_coeff

◆ m_emergency_stop_triggered

◆ m_i_err_integr

◆ m_i_offsets_real

◆ m_initSucceeded

◆ m_is_first_iter

◆ m_iter

◆ m_robot_util

◆ m_sleep_time