Other Parts Discussed in Thread: CONTROLSUITE, MOTORWARE
Hi!
I am using the launchpad with two booster pack motor drivers to create a dual traction motor driveline.
The two rear wheels are the two driven wheels
I want to do torque vectoring and limited slip differential.
Current in motor A = Ia
Current in motor B = Ib
Speed in motor A = Vb
Speed in motor B = Vb
The torque vectoring I want to do like this:
common current = Ic
differential current = Id
Ia=Ic/2+Id/2
Ib=Ic/2-Id/2
The limited slip I want to do like this
maximum allowed slip=X
minimum allowed speed=min(Va,Vb)-X
maximum allowed speed=max(Va,Vb)+X
This requires that I can set a lower and upper bound on the speed to the current controller.
I am considering two solutions:
Have a PI loop creating a max allowed current that limits the current controller based on the max allowed speed and a PI loop
a PI loop creating a min allowed current that limits the current controller based on the min allowed speed
Or this solution
If speed > max speed, use PI set at max speed to control current until current > target current
If speed < min speed, use PI set at min speed to control current until current < target current
What do you propose to create a lower and upper speed bound when using current control
