Voltage Superposition¶

This client is used to set up and change settings related to Vertiq underactuated pulsing propellers.

Arduino¶

To use the Voltage Superposition in Arduino, ensure voltage_superposition_client.hpp is included. This allows the creation of a VoltageSuperpositionClient object. See the Message Table below for available messages. All message objects use the Short Name with a trailing underscore. All messages use the standard Get/Set/Save functions.

A minimal working example for the VoltageSuperpositionClient is:

#include <iq_module_communication.hpp>

IqSerial ser(Serial2);
VoltageSuperpositionClient voltageSuperposition(0);

void setup() {
    ser.begin();
    // Initialize Serial (for displaying information on the terminal)
    Serial.begin(115200);
}

void loop() {
    int zeroAngle = 0;
    if(ser.get(voltageSuperposition.zero_angle_, zeroAngle))
    Serial.println(zeroAngle);
}

C++¶

To use the Voltage Superposition client in C++, include voltage_superposition_client.hpp. This allows the creation of an VoltageSuperposition object. See the Message Table below for available messages. All message objects use the Short Name with a trailing underscore. All messages use the standard Get/Set/Save functions.

A minimal working example for the VoltageSuperpositionClient is:

Note

Interfacing with Serial looks different on different machines. Therefore, this example does not include code for interfacing with the hardware.

For more, see Full C++ Code Example (w/ LibSerial)

#include "generic_interface.hpp"
#include "voltage_superposition_client.hpp"

void main(){
    // Make a communication interface object
    GenericInterface com;

    // Make a Voltage Superposition object with obj_id 0
    VoltageSuperpositionClient voltageSuperposition(0);

    // Use the Voltage Superposition Client
    voltageSuperposition.zero_angle_.get(com)

    // Insert code for interfacing with hardware here
}

Matlab¶

To use the Voltage Superposition client in Matlab, all Vertiq communication code must be included in your path. This allows the creation of a VoltageSuperpositionClient object. See the Message Table below for available messages. All message strings use the Short Names. All messages use the standard Get/Set/Save functions.

A minimal working example for the VoltageSuperpositionClient is:

% Make a communication interface object
com = MessageInterface(’COM18’,115200);

% Make a VoltageSuperpositionClient object with obj_id 0
VoltageSuperposition = VoltageSuperpositionClient(’com’,com);

% Use the VoltageSuperpositionClient object
zeroAngle = VoltageSuperposition.get(’zero_angle’);

Python¶

To use the Voltage Superposition Client in Python, import iqmotion and create a module that has the Arming Handler Client within its firmware. See the table below for available messages. All message strings use the Short Names. All messages use the standard Get/Set/Save functions.

A minimal working example for the Voltage Superposition Client is:

import iqmotion as iq

com = iq.SerialCommunicator("/dev/ttyUSB0")
|variable_name| = iq.|module_name|(com, 0, firmware="pulsing")

zero_angle= |variable_name|.get("voltage_superposition", "zero_angle")
print(f"Zero angle: {zero_angle}")

Message Table¶

Type ID 74 | Voltage Superposition

Voltage Superposition¶
Sub ID	Short Name	Access	Data Type	Unit	Note
0	zero_angle	get, set, save	float	\(\text{rad}\)	This is the angular position that the module considers as its ‘zero’ position to start pulsing.
1	frequency	get, set, save	uint8	\(\frac{\text{Pulses}}{\text{Rotation}}\)	This is the number of pulses that happen per rotation.
2	phase	get, set	float	\(\text{rad}\)	This value is added to the zero angle to set where the pulse occurs.
3	amplitude	get, set	float	\(V\)	This value represents the strength of the pulse. Setting the amplitude too high at lower speeds can cause the pulsing to overcome the inertia of the motor spinning, causing it to stop.
4	voltage	get	float	\(V\)	This is the voltage that is currently being applied by the pulsing client.
5	max_allowed_amplitude	get	float	\(V\)	This is the maximum pulsing amplitude based on settings and velocity.
6	velocity_cutoff	get, set, save	float	\(\frac{\text{rad}}{s}\)	This is the velocity at which pulsing is allowed. Any velocity between cutoff and -cutoff will not pulse.
7	poly_coeff_zero	get, set, save	float	\(V\)	This is the zeroth coefficient of the cutoff polynomial.
8	poly_coeff_one	get, set, save	float	\(V * (\frac{s}{\text{rad}})\)	This is the first coefficient of the cutoff polynomial.
9	poly_coeff_two	get, set, save	float	\(V * (\frac{s}{\text{rad}})^2\)	This is the second coefficient of the cutoff polynomial.
10	poly_coeff_three	get, set, save	float	\(V * (\frac{s}{\text{rad}})^3\)	This is the third coefficient of the cutoff polynomial.
11	phase_lead_time	get, set, save	float	\(s\)	This is the phase lead time setting for tuning pulsing propellers.
12	phase_lead_angle	get	float	\(rad\)	This is the instantaneous phase lead angle determined by the phase lead time.
13	phase_act	get	float	\(rad\)	This is the instantaneous phase being used by the pulsing client.
14	amplitude_act	get	float	\(V\)	This is the instantaneous amplitude being used by the pulsing client.
15	sample_mechanical_zero	set			This sets the zero_angle to the current motor position.
16	propeller_torque_offset_angle	get, set, save	float	\(rad\)	This offsets where the pulse starts around the motor to allow for propeller mechanical properties.