BMT M9 groep 7 / Mbed 2 deprecated frdm_Motor_V2_4

werkende PID, int/double probleem met encoder opgelost.

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of frdm_Motor_V2_3 by Robert Schulte

main.cpp@13:a6770307a5d2, 2015-09-29 (annotated)

Committer:
Rvs94
Date:
Tue Sep 29 16:48:08 2015 +0000
Revision:
13:a6770307a5d2
Parent:
12:69ab81cf5b7d
Child:
14:baebaef79aa6
Werkt, lowpass filter (5Hz). Motor aansturing is goed. Nadeel: snelheid wordt nooit 0. Misschien meer filtering toepassen.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Margreeth95 0:284ed397e046 1 #include "mbed.h"
Margreeth95 0:284ed397e046 2 #include "MODSERIAL.h"
Margreeth95 0:284ed397e046 3 #include "HIDScope.h"
Margreeth95 0:284ed397e046 4 #include "QEI.h"
Rvs94 12:69ab81cf5b7d 5 #include "biquadFilter.h"
Margreeth95 0:284ed397e046 6
Margreeth95 0:284ed397e046 7 Serial pc(USBTX, USBRX); // tx, rx
Margreeth95 0:284ed397e046 8 DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
Margreeth95 0:284ed397e046 9 PwmOut motor2speed(D5);
Rvs94 9:774fc3c6a39e 10 AnalogIn potmeter2(A5);
Rvs94 5:455773cf460b 11 QEI Encoder(D3, D2, NC, 128);
Rvs94 1:48aba8d5610a 12 HIDScope scope(3);
Rvs94 12:69ab81cf5b7d 13
Margreeth95 0:284ed397e046 14 Ticker ScopeTime;
Rvs94 9:774fc3c6a39e 15 Ticker myControllerTicker;
Rvs94 7:67b50d4fb03c 16
Rvs94 7:67b50d4fb03c 17 double Aantal_Degs;
Rvs94 7:67b50d4fb03c 18 double Aantal_pulses;
Rvs94 10:80fe931a71e4 19 double reference;
Rvs94 10:80fe931a71e4 20 double position;
Rvs94 2:099da0fc31b6 21
Margreeth95 0:284ed397e046 22 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
Margreeth95 0:284ed397e046 23 {
Margreeth95 0:284ed397e046 24 scope.set(0, motor2direction.read());
Margreeth95 0:284ed397e046 25 scope.set(1, motor2speed.read());
Rvs94 1:48aba8d5610a 26 scope.set(2, Aantal_Degs);
Rvs94 10:80fe931a71e4 27 Aantal_Degs = Encoder.getPulses()*360/(0.5*128*131);
Rvs94 4:0d4aff8b57b3 28
Margreeth95 0:284ed397e046 29 scope.send();
Rvs94 1:48aba8d5610a 30
Margreeth95 0:284ed397e046 31 }
Rvs94 12:69ab81cf5b7d 32 // Sample time (motor2-step)
Rvs94 12:69ab81cf5b7d 33 const double m2_Ts = 0.01;
Rvs94 12:69ab81cf5b7d 34
Rvs94 9:774fc3c6a39e 35 // Controller gain
Rvs94 12:69ab81cf5b7d 36 const double m2_Kp = 0.07,m2_Ki = 0.005, m2_Kd = 0.005;
Rvs94 13:a6770307a5d2 37 double m2_err_int = 0, m2_prev_err = 0;
Rvs94 12:69ab81cf5b7d 38
Rvs94 12:69ab81cf5b7d 39 //Derivative filter coeffs
Rvs94 13:a6770307a5d2 40 const double BiGain = 0.016955;
Rvs94 13:a6770307a5d2 41 const double m2_f_a1 = -0.96608908283*BiGain, m2_f_a2 = 0.0*BiGain, m2_f_b0 = 1.0*BiGain, m2_f_b1 = 1.0*BiGain, m2_f_b2 = 0.0*BiGain;
Rvs94 12:69ab81cf5b7d 42 // Filter variables
Rvs94 12:69ab81cf5b7d 43 double m2_f_v1 = 0, m2_f_v2 = 0;
Rvs94 10:80fe931a71e4 44
Rvs94 12:69ab81cf5b7d 45 // Biquad filter
Rvs94 12:69ab81cf5b7d 46 double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 )
Rvs94 9:774fc3c6a39e 47 {
Rvs94 13:a6770307a5d2 48 double v = u - a1*v1 - a2*v2;
Rvs94 13:a6770307a5d2 49 double y = b0*v + b1*v1 + b2*v2;
Rvs94 12:69ab81cf5b7d 50 v2 = v1; v1 = v;
Rvs94 12:69ab81cf5b7d 51 return y;
Rvs94 12:69ab81cf5b7d 52 }
Rvs94 12:69ab81cf5b7d 53
Rvs94 12:69ab81cf5b7d 54
Rvs94 12:69ab81cf5b7d 55 // Reusable PID controller
Rvs94 12:69ab81cf5b7d 56 double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2,
Rvs94 13:a6770307a5d2 57 const double f_a1,const double f_a2, const double f_b0, const double f_b1, const double f_b2)
Rvs94 12:69ab81cf5b7d 58 {
Rvs94 12:69ab81cf5b7d 59 // Derivative
Rvs94 12:69ab81cf5b7d 60 double e_der = (e-e_prev)/Ts;
Rvs94 12:69ab81cf5b7d 61 e_der = biquad(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2);
Rvs94 13:a6770307a5d2 62 e_prev = e;
Rvs94 12:69ab81cf5b7d 63 // Integral
Rvs94 12:69ab81cf5b7d 64 e_int = e_int + Ts*e;
Rvs94 12:69ab81cf5b7d 65 // PID
Rvs94 12:69ab81cf5b7d 66 return Kp * e + Ki*e_int + Kd*e_der;
Rvs94 9:774fc3c6a39e 67 }
Margreeth95 0:284ed397e046 68
Rvs94 12:69ab81cf5b7d 69 // Motor control
Rvs94 11:0793a78109a2 70 void motor2_Controller()
Rvs94 9:774fc3c6a39e 71 {
Rvs94 10:80fe931a71e4 72 reference = potmeter2.read()*360;
Rvs94 10:80fe931a71e4 73 position = Encoder.getPulses()*360/(0.5*128*131); // Aantal Degs
Rvs94 13:a6770307a5d2 74 double P2 = PID( reference - position, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2,
Rvs94 12:69ab81cf5b7d 75 m2_f_b0, m2_f_b1, m2_f_b2);
Rvs94 9:774fc3c6a39e 76 motor2speed = abs(P2);
Rvs94 9:774fc3c6a39e 77 if(P2 > 0)
Rvs94 9:774fc3c6a39e 78 {
Rvs94 9:774fc3c6a39e 79 motor2direction = 0;
Rvs94 9:774fc3c6a39e 80 }
Rvs94 9:774fc3c6a39e 81 else
Rvs94 9:774fc3c6a39e 82 {
Rvs94 9:774fc3c6a39e 83 motor2direction = 1;
Rvs94 9:774fc3c6a39e 84 }
Rvs94 9:774fc3c6a39e 85
Rvs94 9:774fc3c6a39e 86 }
Rvs94 3:687729d7996e 87
Margreeth95 0:284ed397e046 88 int main()
Rvs94 9:774fc3c6a39e 89 {
Margreeth95 0:284ed397e046 90 pc.baud(115200);
Rvs94 3:687729d7996e 91 pc.printf("Tot aan loop werkt\n");
Rvs94 9:774fc3c6a39e 92
Margreeth95 0:284ed397e046 93 ScopeTime.attach_us(&ScopeSend, 10e4);
Rvs94 11:0793a78109a2 94 myControllerTicker.attach( &motor2_Controller, 0.01f ); // 100 Hz
Rvs94 9:774fc3c6a39e 95 while(true)
Margreeth95 0:284ed397e046 96 {
Rvs94 10:80fe931a71e4 97 pc.printf("position = %f aantal degs = %f \n",reference,position);
Rvs94 10:80fe931a71e4 98 wait(0.2f);
Margreeth95 0:284ed397e046 99 }
Rvs94 9:774fc3c6a39e 100
Margreeth95 0:284ed397e046 101 }