Merge pull request odriverobotics#626 from pbrier/master

Added integrator_limit to allow prevention of integrator windup

Firmware/MotorControl/controller.cpp

@@ -364,6 +364,8 @@ bool Controller::update() {
         } else {
             vel_integrator_torque_ += ((vel_integrator_gain * gain_scheduling_multiplier) * current_meas_period) * v_err;
         }
+        // integrator limiting to prevent windup 
+        vel_integrator_torque_ = std::clamp(vel_integrator_torque_, -config_.vel_integrator_limit, config_.vel_integrator_limit);
     }
 
     float ideal_electrical_power = 0.0f;

Firmware/MotorControl/controller.hpp

@@ -30,6 +30,7 @@ class Controller : public ODriveIntf::ControllerIntf {
         float vel_integrator_gain = 2.0f / 6.0f; // [Nm/(turn/s * s)]
         float vel_limit = 2.0f;                  // [turn/s] Infinity to disable.
         float vel_limit_tolerance = 1.2f;        // ratio to vel_lim. Infinity to disable.
+        float vel_integrator_limit = INFINITY;   // Vel. integrator clamping value. Infinity to disable.
         float vel_ramp_rate = 1.0f;              // [(turn/s) / s]
         float torque_ramp_rate = 0.01f;          // Nm / sec
         bool circular_setpoints = false;

Firmware/odrive-interface.yaml

@@ -931,6 +931,11 @@ interfaces:
             type: float32
             unit: Nm/(turn/s * s)
             doc: units = Nm/(turn/s * s), default = 0.32
+            doc: units = 'Nm/(turn/s), default = 0.16
+          vel_integrator_limit:
+            type: float32
+            unit: Nm
+            doc: Limit the integrator output (independent of proportional gain output) to prevent 'integrator windup'. Set to infinity to disable. Units = Nm, default = inf
           vel_limit:
             type: float32
             unit: turn/s