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AutoQuad Forum • View topic - Thrust mode, closed loop (experimental)

Thrust mode, closed loop (experimental)

Info and Discussion about the ESC32 hardware and software

Thrust mode, closed loop (experimental)

Postby igor » Tue Oct 30, 2012 9:53 pm

Attachments
esc32_startup_thrust_Igor_11.11.2012.hex.zip
Firmware for ESC32 with experimental closed loop THRUST mode. (.zip because .hex is not allowed ;-)
(42.88 KiB) Downloaded 876 times
DepDataVsIndepData1_modelplotLRP_7769_1351420735_05.png
Throttle vs. thrust curve in closed loop thrust mode with APC SlowFly 12" x 3.8"
DepDataVsIndepData1_modelplotLRP_7769_1351420735_05.png (56.93 KiB) Viewed 20729 times
DepDataVsIndepData1_modelplotLRP_27871_1351366907_49.png
Thrust vs. rpm curve for APC SlowFly 12" x 3.8"
DepDataVsIndepData1_modelplotLRP_27871_1351366907_49.png (45.04 KiB) Viewed 20729 times
Last edited by igor on Mon Nov 12, 2012 9:52 pm, edited 2 times in total.
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Re: Thrust mode, closed loop (experimental)

Postby LPR » Thu Nov 01, 2012 12:13 pm

Igor

Great work. I'm very interested in thrust control. This octo with angled motors could fly very well with ESC32 using thrust mode and the AQ board with custom firmware.

https://www.youtube.com/watch?v=Hutm45D ... ature=plcp

Larry
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Re: Thrust mode, closed loop (experimental)

Postby igor » Sun Nov 04, 2012 1:34 pm

In the firmware (11.11.2012, see also above) I postet here viewtopic.php?f=26&t=1756 is also a lowpass on setpoints that might be helpful in closed loop mode if yoh have troubles with noise on your setpoint.
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Re: Thrust mode, closed loop (experimental)

Postby igor » Mon Nov 12, 2012 9:48 pm

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Re: Thrust mode, closed loop (experimental)

Postby mr_westie » Mon Nov 12, 2012 10:18 pm

Nice work :)

If my 15" hex build needs more stability I will have to give this a go.
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Re: Thrust mode, closed loop (experimental)

Postby igor » Sun Nov 18, 2012 7:20 pm

Attachments
esc32_startup_thrust_Igor_16.11.2012.hex.zip
(43.11 KiB) Downloaded 866 times
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Re: Thrust mode, closed loop (experimental)

Postby jy0933 » Mon Mar 17, 2014 10:20 am

just a quick clarification for fine tuning part.

generally. it is more of verification of calibrated P, right?
do I check only for overshoot/undercompensate with set rpm and stat. or even check with a tacho?

also, the 0.2-0.5 of P term you referred is a general range P will fall into. instead of manually change it for tuning


about current limiting. it is a must to ensure thrust mode to work well or?

thanks for your time
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Re: Thrust mode, closed loop (experimental)

Postby 摩天轮1111 » Mon Jun 09, 2014 8:42 pm

excuse me ,i also do a lot of affort, but i still have some problem with the thrust mode ,"Make RPM changes via CLI, and check if it overshots or undercompensates. "is this ,can you more detail,how can i make rpmchange via cli,and what is CL1
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Re: Thrust mode, closed loop (experimental)

Postby chschmid » Mon Jun 09, 2014 9:06 pm

Cli is a Command Line Interface. Use putty and connect to ESC32 @ 230400 Baud.
Commands available are:

{"arm", "", cliFuncArm},
{"beep", "<frequency> <duration>", cliFuncBeep},
{"binary", "", cliFuncBinary},
{"bootloader", "", cliFuncBoot},
{"config", "[READ | WRITE | DEFAULT]", cliFuncConfig},
{"disarm", "", cliFuncDisarm},
{"duty", "<percent>", cliFuncDuty},
{"help", "", cliFuncHelp},
{"input", "[PWM | UART | I2C | CAN]", cliFuncInput},
{"mode", "[OPEN_LOOP | RPM | THRUST | SERVO]", cliFuncMode},
{"pos", "<degrees>", cliFuncPos},
{"pwm", "<microseconds>", cliFuncPwm},
{"rpm", "<target>", cliFuncRpm},
{"set", "LIST | [<PARAMETER> <value>]", cliFuncSet},
{"start", "", cliFuncStart},
{"status", "", cliFuncStatus},
{"stop", "", cliFuncStop},
{"telemetry", "<Hz>", cliFuncTelemetry},
{"version", "", cliFuncVer}

Cheers
Christof
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Re: Thrust mode, closed loop (experimental)

Postby 摩天轮1111 » Tue Jun 10, 2014 2:51 am

thank you for your answer i mean i use qgc software to calibrate esc32,and i have already finish cl rpm mode and get CL1to CL5 and FF1 to FF2 parameter,the next i need calibrate cl thrust mode,but the problem i meet is how can i use the qgc to make the motor work at a speed that can be read from the qgc,only this can i measure the thrust of this speed。my problem is how can i set a speed ,i try the rpm set in the link esc32,but i get no effort,so i also wonder what the function of the rpm set in link esc32。 i hope you help and would very appreciate it
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