Anti-windup (pure velocity control mode)

A project log for moteus brushless controller

Open source, compact, high performance, FOC based BLDC motor control

Josh PieperJosh Pieper 04/18/2021 at 16:580 Comments

I recently added an optional "anti-windup" term to the position control loop in moteus.  This lets it operate in a pure velocity mode with behavior that is more familiar to a 3 stage control law, as opposed to the integrated position/velocity controller that moteus uses.

You can configure it by setting the "servo.max_position_slip" option to the number of revolutions the control position is allowed to deviate from the actual position.

I've got a video showing how to use it here: