PID-Output Ramp function has no effect

developement
1

#include <SimpleFOC.h>

MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);

TwoWire Wire1(PB11, PB10);

// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(7);
BLDCDriver3PWM driver = BLDCDriver3PWM(PB1, PB0, PA7, 8);
BLDCMotor motor1 = BLDCMotor(7);
BLDCDriver3PWM driver1 = BLDCDriver3PWM(PB9, PA1, PB8, 8);

float speed = 0.000f;
int xValue = 0;
int yValue = 0;
bool messageStarted = false;
byte receivedBytes[4];
int byteIndex = 0;
HardwareSerial Serial3(PC11, PC10);

void setup() {

// initialise magnetic sensor hardware
sensor.init();
sensor1.init(&Wire1);
// link the motor to the sensor
motor.linkSensor(&sensor1);
motor1.linkSensor(&sensor);

// power supply voltage
driver.voltage_power_supply = 9;
driver.init();
motor.linkDriver(&driver);

driver1.voltage_power_supply = 9;
driver1.init();
motor1.linkDriver(&driver1);

// aligning voltage
motor.voltage_sensor_align = 2;
motor.velocity_index_search = 0.5;
// choose FOC modulation (optional)
motor.foc_modulation = FOCModulationType::SinePWM;
// set motion control loop to be used
motor.controller = MotionControlType::torque;

// aligning voltage
motor1.voltage_sensor_align = 2;
motor.velocity_index_search = 0.5;
// choose FOC modulation (optional)
motor1.foc_modulation = FOCModulationType::SinePWM;
// set motion control loop to be used
motor1.controller = MotionControlType::torque;

// velocity PI controller parameters
motor.PID_velocity.P = 0.2f;
motor.PID_velocity.I = 10;
motor.PID_velocity.D = 0;
// default voltage_power_supply
motor.voltage_limit = 9;
// jerk control using voltage voltage ramp
// default value is 300 volts per sec ~ 0.3V per millisecond
motor.PID_velocity.output_ramp = 9999;

// velocity low pass filtering
// default 5ms - try different values to see what is the best.
// the lower the less filtered
motor.LPF_velocity.Tf = 0.05f;

// velocity PI controller parameters
motor1.PID_velocity.P = 0.2f;
motor1.PID_velocity.I = 10;
motor1.PID_velocity.D = 0;
// default voltage_power_supply
motor1.voltage_limit = 9;
// jerk control using voltage voltage ramp
// default value is 300 volts per sec ~ 0.3V per millisecond
motor1.PID_velocity.output_ramp = 9999;

// velocity low pass filtering
// default 5ms - try different values to see what is the best.
// the lower the less filtered
motor1.LPF_velocity.Tf = 0.05;

// initialize motor
motor.init();
motor1.init();
// align sensor and start FOC
motor.initFOC();
motor1.initFOC();

Serial.begin(115200);
Serial3.begin(115200);
Serial.println(“Setup Done”);

_delay(1000);

}

void loop() {

while (Serial3.available() > 0) {
char receivedChar = Serial3.read();

if (receivedChar == '<') {
  // Start of message
  byteIndex = 0;
  messageStarted = true;
} else if (messageStarted) {
  // Store the received byte in the buffer
  receivedBytes[byteIndex] = receivedChar;
  byteIndex++;

  if (byteIndex == 4) {
    // End of message; process the data
    int highByteX = receivedBytes[0];
    int lowByteX = receivedBytes[1];
    int highByteY = receivedBytes[2];
    int lowByteY = receivedBytes[3];

     xValue = (int(highByteX) << 8) | lowByteX;
     yValue = (int(highByteY) << 8) | lowByteY;

    // Process the received values as needed
    // Example: Print them to the Serial Monitor
    // Serial.print("X: ");
    // Serial.print(xValue);
    // Serial.print("\tY: ");
    // Serial.println(yValue);

    speed = map(yValue, 0, 1023, -9.00f, 9.00f);
    Serial.println(speed);

    messageStarted = false;  // Reset for the next message
  }
}

}

motor.loopFOC();
motor1.loopFOC();
motor.move(speed);
motor1.move(speed);

}

this is my code for refference the output ramp function has no effect no matter how much I increase its value, can anyone help me?

2

It’s the other way around. Small value limits the rate of change. In pid.cpp,

    // if output ramp defined
    if(output_ramp > 0){
        // limit the acceleration by ramping the output
        float output_rate = (output - output_prev)/Ts;
        if (output_rate > output_ramp)
            output = output_prev + output_ramp*Ts;
        else if (output_rate < -output_ramp)
            output = output_prev - output_ramp*Ts;
    }