Open loop control

#1

Hello everyone,
I want to identify a plant model from input-output data in order to use the identified model to calculate my PID controller values.
I’m going to use system identification toolbox of Matlab.
SO I’m looking for a way to get open loop step response of the motor using Odrive.
I tried to set closed loop control by setting pos_gain , vel_gain and vel_integrator_gain to zeros. But this didn’t work : the motor did not move when we set odrive pid controller gains to zero.
Is there any method to get setp response of my motor using odrive ?
Best Regards :slight_smile:

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#2

Try using the current control mode.

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#3

To be more clear , I resumed my idea in those diagrams.

The odrive with generate the voltage commands to the motor and measure the resulting motor angles in an open loop ( which means without passing by the pid controller block)

the output data will be used to develop plan model using system identification toolbox of Matlab

.

Thanks in advance

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#4

You can try to use gimbal motor mode, in that case the current setpoint is reinterpreted as voltage instead.

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#5

Is it okay to do that, even though my motor is not a gimbal motor? I have T motor u8pro with phase resistance measured by odrive around 0.1 Ohm. Is it okay to set it as motor type gimbal?

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