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Position Control - Velocity and Accel references - what are they?

RichB
Intellectual 585 points

Hi all

What do these two functions do?

STPOSCTL_setVelocityReference()

STPOSCTL_setAccelerationReference()

They are called by the Position Move subsystem, I know that much. I'm happy with how PosCtrl uses the position and feedback to adjust torque (with the bandwidth value) to get the motor to where it needs to be.  Just not sure what these values do. In lab 13a which is just position control, these are both set to zero:

STPOSCTL_setVelocityReference(stObj->posCtlHandle, 0);

STPOSCTL_setAccelerationReference(stObj->posCtlHandle, 0);

Thanks in advance

Rich

  • 0
    Guru 12800 points

    Rich,

    STPOSCTL_setVelocityReference() and STPOSCTL_setAccelerationReference() set feedforward values within SpinTAC Position Control.  This allows the controller to have excellent profile tracking since it is getting this additional information about what the system should be doing.

    They are set to 0 in lab 13a since the profile generator is not included as part of that lab.