angle control Back and forth

[Meekdai]

Hi @askuric ,
Today I tested your angle control code. I found it has two issues.

1. I adjust the motor.P_angle.K value to allow the motor to start running smoothly, But it will always oscillate back and forth between target values. the log:

-0.10   10000.00        9999.98
-0.14   10000.00        9999.98
-0.18   10000.00        9999.98
-0.21   10000.00        9999.98
-0.25   10000.00        9999.98
-0.28   10000.00        9999.98
-0.25   10000.00        9999.97
-0.21   10000.00        9999.97
-0.17   10000.00        9999.97
-0.14   10000.00        9999.97
-0.10   10000.00        9999.97
-0.07   10000.00        9999.96
-0.03   10000.00        9999.96
0.00    10000.00        9999.96
0.04    10000.00        9999.96
0.07    10000.00        9999.96
0.11    10000.00        9999.96
0.14    10000.00        9999.96
0.18    10000.00        9999.96
0.22    10000.00        9999.96
0.25    10000.00        9999.96
0.29    10000.00        9999.96
0.32    10000.00        9999.96
0.28    10000.00        9999.97
0.25    10000.00        9999.97
0.21    10000.00        9999.98
0.18    10000.00        9999.98
0.14    10000.00        10000.00
0.11    10000.00        10000.00
0.07    10000.00        10000.01
0.03    10000.00        10000.01
-0.00   10000.00        10000.01
-0.04   10000.00        10000.01
-0.08   10000.00        10000.01
-0.11   10000.00        10000.01
-0.15   10000.00        10000.01
-0.18   10000.00        10000.01
-0.22   10000.00        10000.01
-0.26   10000.00        10000.01
-0.29   10000.00        10000.01
-0.33   10000.00        10000.01
-0.37   10000.00        10000.01
-0.33   10000.00        10000.00
-0.29   10000.00        10000.00
-0.25   10000.00        9999.98
-0.22   10000.00        9999.97
-0.18   10000.00        9999.96
-0.14   10000.00        9999.95
-0.10   10000.00        9999.94
-0.07   10000.00        9999.92
-0.03   10000.00        9999.92
0.00    10000.00        9999.92
-0.03   10000.00        9999.91
0.00    10000.00        9999.91
0.04    10000.00        9999.91
0.07    10000.00        9999.91
0.11    10000.00        9999.91
0.14    10000.00        9999.91
0.18    10000.00        9999.91
0.21    10000.00        9999.91
0.25    10000.00        9999.91
0.28    10000.00        9999.91
0.32    10000.00        9999.91
0.28    10000.00        9999.92
0.25    10000.00        9999.92
0.21    10000.00        9999.94
0.17    10000.00        9999.94
0.14    10000.00        9999.95
0.10    10000.00        9999.95
0.07    10000.00        9999.96
0.03    10000.00        9999.96
-0.00   10000.00        9999.96
-0.04   10000.00        9999.97
-0.07   10000.00        9999.97
-0.11   10000.00        9999.97
-0.15   10000.00        9999.97
-0.18   10000.00        9999.97
-0.15   10000.00        9999.96
-0.11   10000.00        9999.96
-0.08   10000.00        9999.96
-0.04   10000.00        9999.96
-0.01   10000.00        9999.96
0.03    10000.00        9999.96
0.06    10000.00        9999.96
0.10    10000.00        9999.96
0.14    10000.00        9999.96
0.17    10000.00        9999.96
0.21    10000.00        9999.96
0.24    10000.00        9999.96
0.20    10000.00        9999.97
-0.36   10000.00        9999.97
-0.32   10000.00        9999.96
-0.28   10000.00        9999.96
-0.25   10000.00        9999.95
-0.21   10000.00        9999.94
-0.17   10000.00        9999.92
-0.13   10000.00        9999.91
-0.10   10000.00        9999.91
-0.06   10000.00        9999.90
-0.02   10000.00        9999.89
0.01    10000.00        9999.89
-0.03   10000.00        9999.87
0.29    10000.00        9999.87
0.32    10000.00        9999.87
0.29    10000.00        9999.89
0.26    10000.00        9999.89
0.22    10000.00        9999.90
0.19    10000.00        9999.91
0.15    10000.00        9999.91
0.11    10000.00        9999.92
0.08    10000.00        9999.92
0.12    10000.00        9999.94
0.08    10000.00        9999.94
0.05    10000.00        9999.94
0.08    10000.00        9999.95
-0.30   10000.00        9999.95
-0.27   10000.00        9999.94
-0.23   10000.00        9999.94
-0.20   10000.00        9999.94
-0.16   10000.00        9999.92
-0.12   10000.00        9999.92
-0.09   10000.00        9999.92
-0.05   10000.00        9999.91
0.27    10000.00        9999.91
0.23    10000.00        9999.92
0.19    10000.00        9999.92
0.16    10000.00        9999.92
0.12    10000.00        9999.92
0.09    10000.00        9999.92
0.05    10000.00        9999.92
0.02    10000.00        9999.94
-0.02   10000.00        9999.94
-0.05   10000.00        9999.94
-0.09   10000.00        9999.94
-0.12   10000.00        9999.94
-0.16   10000.00        9999.94
-0.19   10000.00        9999.94
-0.23   10000.00        9999.94
-0.20   10000.00        9999.92
-0.16   10000.00        9999.92
-0.12   10000.00        9999.92
-0.09   10000.00        9999.92
-0.05   10000.00        9999.92
-0.02   10000.00        9999.92
0.02    10000.00        9999.92
0.05    10000.00        9999.92
0.09    10000.00        9999.92
0.12    10000.00        9999.92
0.16    10000.00        9999.92
0.19    10000.00        9999.92
0.23    10000.00        9999.92
0.26    10000.00        9999.92
0.30    10000.00        9999.92
0.26    10000.00        9999.94
0.24    10000.00        9999.94
0.21    10000.00        9999.94
0.18    10000.00        9999.95
0.14    10000.00        9999.95
-0.39   10000.00        9999.96
-0.35   10000.00        9999.95
-0.31   10000.00        9999.95
-0.28   10000.00        9999.94
-0.24   10000.00        9999.92
-0.20   10000.00        9999.90
-0.24   10000.00        9999.89
-0.20   10000.00        9999.87
-0.16   10000.00        9999.86
-0.13   10000.00        9999.85
-0.09   10000.00        9999.84
-0.05   10000.00        9999.82
-0.02   10000.00        9999.82
-0.06   10000.00        9999.81
0.33    10000.00        9999.81
0.36    10000.00        9999.81
0.40    10000.00        9999.82
0.43    10000.00        9999.82
0.40    10000.00        9999.84
0.36    10000.00        9999.85
0.32    10000.00        9999.86
0.29    10000.00        9999.89
0.25    10000.00        9999.91
0.21    10000.00        9999.94
0.25    10000.00        9999.95
0.21    10000.00        9999.97
0.18    10000.00        10000.00
0.14    10000.00        10000.02
0.10    10000.00        10000.05
0.06    10000.00        10000.07
0.03    10000.00        10000.08
-0.01   10000.00        10000.11
-0.05   10000.00        10000.12
-0.09   10000.00        10000.14
-0.13   10000.00        10000.14
-0.09   10000.00        10000.16
-0.27   10000.00        10000.17

In the position control loop, it can't reach the target and oscillates back and forth is bad.

2. When I started running from position 0 to 10000, the motor stopped several times and did not run smoothly to 10000 as expected.

I have tried many parameters of K Ti velocity_limit voltage_limit, but they have no effect.

[askuric]

Hey @Meekdai ,
I am happy to see that it moves.
The oscillations are caused by the controller parameters.
You need to set PI_velocity K and Ti as before. But a bit more conservative.
K should be a bit lower and Ti bit higher than in velocity mode.
Then you should set the P_angle K. This one is important spend some time tuning it.
And velocity_limit is the value your velocity is limited at when moving in between positions. Small limit means slow movements and large limit fast movements.

So spend some time working on the Pi_velocity.(K and Ti) and P_angle (K and velocity_limit).
Antun

[Meekdai]

Hi @askuric ,
I have tried many times, but it did not get better as I thought. I will keep trying in my free time.

[askuric]

Hi @Meekdai
have you been able to smooth out your angle control?
Can I help somehow?

[Meekdai]

Hi @askuric
I still can't control the angle perfectly. This may be related to the motor and motor drive.
Recently my work is a bit busy.I showed your library to my friend and he will also test it recently.
We will feedback to you as soon as there are any achievements.
Thanks !