From 651d88151da1539ebef08e015c4e49306b55f080 Mon Sep 17 00:00:00 2001 From: Jake Read <jake.read@cba.mit.edu> Date: Sat, 17 Oct 2020 18:37:18 -0400 Subject: [PATCH] find position noise, end notes, fix later --- .../src/drivers/step_cl.cpp | 33 +++++--- log/2020-10-17_noisy-pos.png | Bin 0 -> 46998 bytes log/2020-10-17_noisy-speed.png | Bin 0 -> 52994 bytes log/cl-step-control-log.md | 79 ++++++++++++++++-- 4 files changed, 93 insertions(+), 19 deletions(-) create mode 100644 log/2020-10-17_noisy-pos.png create mode 100644 log/2020-10-17_noisy-speed.png diff --git a/firmware/cl-step-controller/src/drivers/step_cl.cpp b/firmware/cl-step-controller/src/drivers/step_cl.cpp index 383c1ed..051cb3b 100644 --- a/firmware/cl-step-controller/src/drivers/step_cl.cpp +++ b/firmware/cl-step-controller/src/drivers/step_cl.cpp @@ -77,7 +77,7 @@ void flash_write_page(void){ flashClass.erase(block_ptr, BYTES_PER_BLOCK); sysError("writing 0x" + String((uint32_t)block_ptr)); flashClass.write(block_ptr, (const uint8_t*)buffer, BYTES_PER_BLOCK); - delay(10); + delay(1); } void flash_write_value(float val){ @@ -124,10 +124,15 @@ void Step_CL::run_torque_loop(void){ #define MAP_7p2_TO_1 (1.0F / 7.2F) #define TICKS_PER_SEC 50000.0F #define SECS_PER_TICK 1.0F / TICKS_PER_SEC -volatile float _ra; -volatile float _ra_last; -volatile float _deg_s; // real angle / sec -volatile float _pa; +volatile float q = 0.05F;//0.125F; // process noise covariance +volatile float r = 1.0F; // measurement noise covariance +volatile float measurement; // the measurement... +volatile float a = 0.0F; // the estimate on a +volatile float p = 100.0F; // estimation error covariance +volatile float k; // kalman gain + +volatile float _deg_s; // real angle / sec +volatile float _pa; // phase angle float Step_CL::get_deg_sec(void){ return _deg_s; @@ -135,12 +140,20 @@ float Step_CL::get_deg_sec(void){ void ENC_AS5047::on_read_complete(uint16_t result){ if(step_cl->is_calibrating) return; - _ra = lut[result * 2]; // the real angle (position 0-360) + + // (1) get the new measurement, + measurement = lut[result * 2]; + + p = p + q; + + k = p / (p + r); + a = a + k * (measurement - a); + p = (1 - k) * p; + + // write a 'real' speed value + _deg_s = measurement; + _pa = lut[result * 2 + 1]; // the phase angle (0 - 1 in a sweep of 4 steps) - // want to calculate speeds, - // just this is not going to be good enough: have to wrap that angle - _deg_s = (_ra - _ra_last) * TICKS_PER_SEC; - _ra_last = _ra; // upd8 for next tick // this is the phase angle we want to apply, 90 degs off & wrap't to 1 if(step_cl->get_torque() < 0){ _pa -= 0.25; // 90* phase swop diff --git a/log/2020-10-17_noisy-pos.png b/log/2020-10-17_noisy-pos.png new file mode 100644 index 0000000000000000000000000000000000000000..a10daf3485905f6615a10e4e66d476a1cefd76fe GIT binary patch literal 46998 zcmeAS@N?(olHy`uVBq!ia0y~yVEVzpz!bs3#=yWJZa0aSfkA=6)5S5QV$PepzvuUS z{cr!_`t!SqbJ#cf&77mQP*tZ@wSD4@j<A&OO;dAEWiEDEDVQl77Btz}`QoG;O~tIG 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zb3(Ry|Np=5`<N2K!^J@k16|Pr4me2H`rn<R)4F|359I&<a0gipI=5jVa{2vs`~7zs z403fp9^Sdl^$yf1MDg|Y*m6s*26y>d6OiHC@0LlU7+(MXZy(cx!sD{XLFsXB`Mpk1 z3W8Qw_S|AR1tJW>oh%@|-|v>oBkN5ul5}VMa3$Cu>?!&GKiH9FZNA+|?qhl&nLg*> z-n9?rT^6>uvVAYC{{2(=s8d~r^}y!ycC$eN<}P0=f*fFC`f+bG80OXg`w8-s?Y|$7 zk^S`fjPZF3u7;B-ld7W++AdcwSdm}t42$N=_wT>gU^q9+v>Rlws`s=7$bofQfBzc| zhI8|5LDr&c{rqb6dMmDm;%8?b-U}-@|B_SY)$M!mx=ts4-<?2)J<n!k@7OMSr?`r# z{ns{gSnt|CfA806iy0~o^O_grYwvjeg@x~HZa%#B=4x$P%uoTk;}cmDUQPNTs!8T& z)}=bZ(R#w0?HO7ov9iC_2F<EOT>9s?sK960zoOUM!Od=a(2;eE87f|{-Cl%jq!O_c zzQ~p3s<y8lt5PoSGfGVoGCZbnW9pI+E8ilUC2|f;wpZ>yf>fF3L3@)m7|zW$??(=G z{43MuYJ7L~^^-d@omcg9DR|P?UPnB7moB*20Ua12108TeipTuw%2&MX9$aPS@x14c z%-Vf%N=lc3TaeQ8x1Uedilp|;5Lvz^S9~^;s`IO<zZf@v?@V2B=@7Iyte<!!Vhsa> zxT2?vW5~bH^6rcU|Nel}Q0>pB)4^#-JR*=!IJsvLQbqbYD%l5Ik*2Lu7jAs_@9Va6 z;CgGy=~Q>d4+q)hpMY{LWK4^JX<vs{>Z#?AMN)bq6dWz@W~*8{^>|*nsvNANb5*X2 z*G*`O-mN|Pik^zcI$9@%6kO_ib<!n#m($UbCZ&U=^Tqp?uMEii3m!ZEvAOJRlsj~2 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I also need to set up some infrastructure I think to do it well: this js looping situation. Maybe that first. -- phase advance can be 'roughly' to do 0.25 + min(speed * x, 0.25) where x is set such that speed * x goes to 0.25 around 2000rpm (by intuition) but really I should make a spreadsheet to figure where (if current writing is direct) the pole-rotation time starts to sync with the 50khz, you know what I mean? -- also read ur datasheets abt current chopping time ? -- in the end, phase advance probably just tuned -- do manuel-set phase advance parameter, -- do js interface for tc down, degs/sec up, plot on loop -- see about sweeping parameter space, learning real torque -- measure against real values, from, what? -- to learn PID, command PID params down, return accumulated error over set evaluation period, do learning over sample gcodes ? means integration into bus, etc -- seems likely that PID learning is related to acceleration setting in smoothie, maybe somehow do multiple accel vals? also return w/ pid an average effort used, and a maximum? ideally tunes motor PID, and per-axis accel all together \ No newline at end of file +OK, have this basically up and - yes - there's lots of noise in the measurement, and the wrap is a struggle. I am tempted to plot a little chart so that I can visualize this more-better as opposed to just watching values flash across the page. + +Yeah, starting that up, now have this very noisy signal: + + + +I think first order is eliminating those spikes that (?) I would guess are during wraps, and then doing better by smoothing over readings. Although I am getting some readings north of 16 million degs / sec: those would be the wraps (360 * 50k), most of the noise is around 60k degs / sec, where it appears as if things have rotated ~ 1 full degree each tick. Those seem odd: one encoder tick is only 0.022 degrees, so that would indicate over 50 ticks of noise, which seems like a tonne more than I was observing. + +Tried the cos/sin/atan2 wrap method: way too slow. + +I suspect it will eventually be very useful to bring the whole calibration table back and plot it, and I wonder if I should just get to filtering things to see if I can eliminate these 1 degree noisy events. + +A simple / dummy filter *sort of works* +```cpp + // want to calculate speeds, need to wrap the pair + _ra_l0 = 0; + _ra_l1 = 0; + // to filter... + for(uint8_t i = 0; i < 6; i ++){ + _ra_l0 += _ra_last[i]; + _ra_l1 += _ra_last[i + 6]; + } + _diff = (_ra_l1 - _ra_l0) / 6; + _deg_s = _diff * TICKS_PER_SEC; + // upd8 + for(uint8_t i = 0; i < 11; i ++){ + _ra_last[i] = _ra_last[i + 1]; + } + _ra_last[11] = _ra; +``` + +But not really. I think the real answer is a kalman filter, so I should give this a go. + +http://robotsforroboticists.com/kalman-filtering/ + +https://github.com/hmartiro/kalman-cpp + +This would be a real piece of maths homework for me. A more likely approach would be to fit a linear segment to a series of measurements, and use the endpoint of that segment as the 'predicted state' ... + +I also have this wrapping-around problem no matter how I kick it. For a last attempt at a hacked filter, I might try writing down deltas and wrapping deltas, then filtering on those (instead of absolute angles). + +... state estimate is x and xdot +... state estimator is x = x + xdot +... new estimate for xdot is the + ... (old estimate for xdot * alpha) + (measurement * (1 - alpha)) +... alpha is an expecation of how smooth +... new xdot uses old estimate of x, and new measurement + +OK, sam gave me some beta on how to think about this in simpler terms. A 1D Kalman filter is e-z, seems like, it's kind of a smoothing filter. + +Oh jeez, I don't think I've done this right: or the wrapping situation is really messing things up. + +I've implemented [this simple 1d kalman](https://github.com/bachagas/Kalman/blob/master/Kalman.h) though I don't think I understand it... it does do stuff. But does it do more than a simple smoothing filter? + +In any case, I gave up tuning and just piped position back, here's what noise there looks like: + + + +Alltogether too much, I think I should read in the whole calibration table and plot it, to see what that looks like... I suspect there are some stray jumps there: maybe at interval boundaries or something like that. + +So next up, I'll write a little routine that sequentially queries for LUT entries, in blocks, and plots those. Once I squash that problem (ominous foreshadowing) I think I'll have a much better time filtering. X first, then Xdot, yeah. + +So - going to put this down for a minute. + +**when we return** +- find the jumps in position readings: pull the LUT up and plot it: check RA and PA. +- the current track is just trying to get a decent, non-noisy position and velocity estimate(s) from the thing. then you can use the vel estimate to write phase advance term per your notes above, and also to measure accel (xddot) = f, for your 2D torque-estimate lut. +- *then* you want to do both + - measuring torque guess success: use calibrated loadcell or somesuch? + - (or) simply go forwards, towards using this in a machine: build a PID position controller, and tune it, maybe using a JS setPID() command, and remotely evaluate some set of moves, to tune. an auto-cal / auto-tune routine, etc. likely via the bus & with smoothie dishing moves, maybe just over usb, who knows \ No newline at end of file -- GitLab