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SpeedControl - Slew Rate?

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NickN
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Last seen: 2 weeks 1 day ago
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Joined: 2020-09-03 00:28
Posts: 2
SpeedControl - Slew Rate?

Seems not many people are using SpeedControl mode. 

I'm working on a direct drive gearmotor configuration using FOC + SpeedControl over UAVCAN for a ground vehicle.

I've got FOC tuning and speed PIDs dialed in but the control code/vesc-tool doesn't seem to have a way to slew the change rate? 

As is, the drive will instantly attempt to achieve the current speed command which causes serious shock to the system. Add backlash from a gearmotor and it compounds the issue.

Is there a slew rate control I'm missing?

NickN
Offline
Last seen: 2 weeks 1 day ago
VESC Free
Joined: 2020-09-03 00:28
Posts: 2

PS - I saw a code block diagram someone posted and cant fint it again. Does anyone have a copy? I beleive it showed the entire control loop of each control mode.