Add <dcmotor> actuator and related docs and tests.
PiperOrigin-RevId: 892927987 Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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6da210c794
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70a7647ad9
@@ -15,6 +15,7 @@
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#include "user/user_api.h"
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#include <algorithm>
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#include <cmath>
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#include <cstddef>
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#include <cstdio>
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#include <cstdlib>
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@@ -1120,6 +1121,166 @@ const char* mjs_setToAdhesion(mjsActuator* actuator, double gain) {
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const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
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double nominal[3], double saturation[4], double inductance[2],
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double cogging[3], double controller[5], double thermal[6],
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double lugre[6], int input_mode) {
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double Kt = motorconst[0]; // torque constant
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double Ke = motorconst[1]; // back-EMF constant
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double R = resistance; // electrical resistance
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double vn = nominal[0]; // nominal voltage
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double tau0 = nominal[1]; // stall torque
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double omega0 = nominal[2]; // no-load speed
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// derive Ke from nominal: omega0 = vn*Ke / (Ke^2 + R*B)
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if (vn > 0 && Ke <= 0 && omega0 > 0) {
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// viscous damping (linear), add lugre sigma2 contribution if any
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double B = actuator->damping[0];
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if (lugre[0] > 0) B += lugre[2];
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if (B > 0 && R > 0) {
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// R known: solve quadratic Ke^2*omega0 - Ke*vn + R*B*omega0 = 0
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double disc = vn*vn - 4*R*B*omega0*omega0;
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Ke = disc > 0 ? (vn + sqrt(disc)) / (2*omega0) : vn / omega0;
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} else if (B > 0 && tau0 > 0) {
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// R from nominal (tau0 = Ke*vn/R, so R = Ke*vn/tau0)
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// substituting into omega0 = vn*Ke/(Ke^2 + R*B):
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// omega0 = vn/(Ke + vn*B/tau0) => Ke = vn/omega0 - vn*B/tau0
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double Ke_exact = vn / omega0 - vn*B / tau0;
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Ke = Ke_exact > 0 ? Ke_exact : vn / omega0;
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} else {
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// B = 0 or insufficient data for B-correction: omega0 = vn*Ke/Ke^2 = vn/Ke
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Ke = vn / omega0;
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}
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}
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// resolve effective motor constant K from [Kt, Ke]
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double K = (Kt > 0 && Ke > 0) ? sqrt(Kt * Ke) :
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(Kt > 0) ? Kt : Ke;
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// derive R from nominal: tau0 = K*vn/R
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if (R == 0 && vn > 0 && tau0 > 0 && K > 0) {
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R = K * vn / tau0;
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}
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if (K <= 0) return "DC motor: motor constant K must be positive";
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if (R <= 0) return "DC motor: resistance R must be positive";
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// set types
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actuator->dyntype = mjDYN_DCMOTOR;
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actuator->gaintype = mjGAIN_DCMOTOR;
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actuator->biastype = mjBIAS_DCMOTOR;
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// gainprm: [R, K, alpha, T0]
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actuator->gainprm[0] = R;
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actuator->gainprm[1] = K;
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// controller parameters: gainprm[4:6] for kp, ki, kd
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actuator->gainprm[4] = controller[0]; // kp
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actuator->gainprm[5] = controller[1]; // ki
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actuator->gainprm[6] = controller[2]; // kd
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// controller parameters: dynprm[7,8] for slewmax, Imax
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actuator->dynprm[7] = controller[3]; // slewmax
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actuator->dynprm[8] = controller[4]; // Imax
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// saturation: [tau_max, i_max, (di/dt)_max, v_max]
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if (saturation[2] > 0) {
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actuator->dynprm[1] = saturation[2]; // (di/dt)_max
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}
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if (saturation[3] > 0) {
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actuator->gainprm[7] = saturation[3]; // v_max
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}
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// saturation -> forcerange
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if (saturation[0] > 0 || saturation[1] > 0) {
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double tau_max = saturation[0];
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if (tau_max == 0 && saturation[1] > 0) {
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tau_max = K * saturation[1]; // tau_max = K * i_max
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}
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actuator->forcerange[0] = -tau_max;
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actuator->forcerange[1] = tau_max;
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actuator->forcelimited = 1;
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}
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// cogging: [amplitude, periodicity, phase] -> biasprm[0:3]
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actuator->biasprm[0] = cogging[0]; // amplitude
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actuator->biasprm[1] = cogging[1]; // periodicity
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actuator->biasprm[2] = cogging[2]; // phase
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// count activation variables: slot order is slew, integral, temperature, bristle, current
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int actdim = 0;
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// inductance: [L, te]
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if (inductance[0] < 0) return "DC motor: inductance must be non-negative";
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if (inductance[1] < 0) return "DC motor: electrical time constant must be non-negative";
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double te = inductance[0] > 0 ? inductance[0] / R : inductance[1];
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actuator->dynprm[0] = te;
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if (te > 0) {
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actdim++;
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}
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// controller states: slew rate limiting
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if (controller[3] > 0) { // slewmax
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actdim++;
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}
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// controller states: integral
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if (controller[1] > 0) { // ki
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actdim++;
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}
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// thermal -> temperature activation
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if (thermal[0] > 0 || thermal[1] > 0 || thermal[2] > 0) {
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double RT = thermal[0]; // thermal resistance
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double C = thermal[1]; // thermal capacitance
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double tth = thermal[2]; // thermal time constant
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double alpha = thermal[3]; // temperature coefficient
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double T0 = thermal[4]; // reference temperature
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double Ta = thermal[5]; // ambient temperature
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if (tth > 0 && RT > 0 && C == 0) {
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C = tth / RT;
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} else if (tth > 0 && C > 0 && RT == 0) {
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RT = tth / C;
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} else if (tth == 0 && RT > 0 && C > 0) {
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tth = RT * C;
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}
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if (RT <= 0) return "DC motor: thermal resistance must be positive";
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if (C <= 0) return "DC motor: thermal capacitance must be positive";
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actuator->dynprm[2] = RT;
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actuator->dynprm[3] = C;
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actuator->dynprm[4] = Ta;
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actuator->gainprm[2] = alpha;
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actuator->gainprm[3] = T0;
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actdim++;
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}
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// lugre: {stiffness, damping, viscous, coulomb, static, stribeck}
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if (lugre[0] > 0) {
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actuator->dynprm[5] = lugre[0]; // stiffness -> sigma0
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actuator->dynprm[6] = lugre[1]; // damping -> sigma1
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actuator->damping[0] += lugre[2]; // viscous -> sigma2
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actuator->biasprm[3] = lugre[3]; // coulomb -> tau_c
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actuator->biasprm[4] = lugre[4]; // static -> tau_s
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actuator->biasprm[5] = lugre[5]; // stribeck -> omega_s
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actdim++;
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}
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// set input mode and activation dimension
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actuator->gainprm[8] = input_mode;
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actuator->actdim = actdim;
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// enforce actlimited = 0; homogeneous bounds are invalid across DC motor states
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actuator->actlimited = 0;
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return "";
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}
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// get spec from body
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mjSpec* mjs_getSpec(mjsElement* element) {
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return &(static_cast<mjCBase*>(element)->model->spec);
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@@ -7222,20 +7222,20 @@ void mjCActuator::Compile(void) {
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// check and set actdim
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if (!plugin.active) {
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if (actdim > 1 && dyntype != mjDYN_USER) {
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throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' in actuator");
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if (actdim > 1 && dyntype != mjDYN_USER && dyntype != mjDYN_DCMOTOR) {
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throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' and 'dcmotor'");
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}
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if (actdim == 1 && dyntype == mjDYN_NONE) {
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throw mjCError(this, "invalid actdim 1 in stateless actuator");
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}
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if (actdim == 0 && dyntype != mjDYN_NONE) {
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if (actdim == 0 && dyntype != mjDYN_NONE && dyntype != mjDYN_DCMOTOR) {
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throw mjCError(this, "invalid actdim 0 in stateful actuator");
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}
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}
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// set actdim
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// set actdim to 1 if it is unset and type is standard one-activation dyntype
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if (actdim < 0) {
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actdim = (dyntype != mjDYN_NONE);
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actdim = (dyntype != mjDYN_NONE && dyntype != mjDYN_DCMOTOR);
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}
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// check muscle parameters
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