MtrVel_SwAlgorithm_Analysis
Overview
Overview
Fixed Point Model
Sheet 1: Overview
Sheet 2: Fixed Point Model
| Time[z-8] (us) | Time (us) | Cos [z-8] (p13) | Sin[z-8] (p13) | Cos (p13) | Sin (p13) | Time[z-8] (us) | Time (us) | ∆t | 2t | 2t2 | ∆ Theta (p13) | Velocity (p24) | 2t*Velocity (p24) |
| t0 (uS) | 20000 |
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| 20000 | 21000 | 8192 | 0 | 8181 | 413 | 0 | 1000 | 1000 | 1000 | 1000000 | 413 | 845 | 845000 |
| sample inc (uS) | 63 |
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| 20063 | 21063 | 8191 | 25 | 8180 | 439 | 63 | 1063 | 1000 | 1126 | 1267876 | 414 | 847 | 953722 |
| loop seperation (uS) | 1000 |
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| 20126 | 21126 | 8191 | 51 | 8178 | 466 | 126 | 1126 | 1000 | 1252 | 1567504 | 415 | 849 | 1062948 |
| offset | 20000 |
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| 20189 | 21189 | 8191 | 77 | 8177 | 492 | 189 | 1189 | 1000 | 1378 | 1898884 | 415 | 849 | 1169922 |
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| 20252 | 21252 | 8191 | 103 | 8175 | 518 | 252 | 1252 | 1000 | 1504 | 2262016 | 415 | 849 | 1276896 |
| Actual Velocity(rad/s) | 50 | 0.00005 |
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| 20315 | 21315 | 8190 | 129 | 8173 | 545 | 315 | 1315 | 1000 | 1630 | 2656900 | 416 | 851 | 1387130 |
| Actual Accel(rad/s2) | 500 | 5E-10 |
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| 20378 | 21378 | 8190 | 155 | 8172 | 571 | 378 | 1378 | 1000 | 1756 | 3083536 | 416 | 851 | 1494356 |
| Initial theta | 0 |
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| 20441 | 21441 | 8189 | 181 | 8170 | 598 | 441 | 1441 | 1000 | 1882 | 3541924 | 417 | 854 | 1607228 |
| TimeOffset(uS) | 100 |
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| Relative time |
| 8000 | 11528 | 17278640 | 3321 | 6795 | 9797202 |
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| B1Num (p24) | 44856 |
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| B1Num (p35) Limited | Jeremy Warmbier:
limit the p24 number prior to scaling up to prevent an overflow. Scaling upt to a sm4p35, which means the max on the positive side is 0.625 - 1 count
91865088 |
| A0 | 0.5240920730306 |
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| Bden (pm7) | 41674 |
| N1P | 0.09361941664774 |
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| Slope (p42) | 2204 |
| N2P | 1.488737214789 |
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| ∆ Theta Intercept (p24) | 849 |
| E1P | 1.27106431778 |
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| Predicted ∆ Theta (p24) | 849000 | 50.6043434143066 | E2P | 3.700991517299 |
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| Correction Scaler | Jeremy Warmbier:
The correction scaler is computed using the existing FDD algorihtm and not the LabView model attached to the PSR. The only difference being that time does not need to be factored out of the expression due to being done prior to division by time.
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| Corr. ∆ Theta (float) | 0.050626 |
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| Avg. ∆t | 1000 |
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| Motor Velocity (rad/sec) | 50.626 |
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| Motor Accel (rad/s2) | 501.132 |
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| Averaging Motor Velocity Algorithm |
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| ∆t | 1000 |
| A0 | 0.524997832 |
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| ∆ sin | 415 |
| N1P | 94250.18578 |
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| ∆ cos | -15 |
| N2P | 1484093.006 |
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| Cos_Theta1_OS | 8175 |
| E1P | 1270451.499 |
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| Sin_Theta1_OS | 505 |
| E2P | 3702672.882 |
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| West | 50.684 |
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| Correction Scaler | 1.0004 |
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| Motor Velocity (rad/sec) | 50.706 |
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