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Current-Limiting Motor Control
A physics-based approach to preventing brownouts is presented.
A method for limiting motor voltage commands is presented. The target controlled variable is system voltage - too much current draw from the motors will lower system voltage to an unacceptable level. This limiting is achieved through calculations involving an adaptive observer plant model which estimates battery parameters in real time, and projections of current draw from motors.
The content of this paper corresponds to a presentation at the 2017 FRC championships in St. Louis.
Additional resources attached. Note that some parts of the algorithm already have sample Java implementations: see
Feel free to PM me here for more info!
current_limiting.pdf (2.02 MB)
BatteryLoadLimiting_FRCChamps2017.pdf (1.01 MB)
BatteryLoadLimiting_FRCChamps2017_with_notes.pdf (1.04 MB)
log_2017-03-12_125643.csv (4.84 MB)