werkende PID, int/double probleem met encoder opgelost.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of frdm_Motor_V2_3 by
Diff: main.cpp
- Revision:
- 26:70e5b6908e0a
- Parent:
- 25:ae908de29943
--- a/main.cpp Sat Oct 03 18:04:16 2015 +0000 +++ b/main.cpp Wed Oct 21 13:37:34 2015 +0000 @@ -42,23 +42,20 @@ double Stapgrootte = 5; //Sample time (motor-step) - const double m2_Ts = 0.01, m1_Ts = 0.01; + const double m2_Ts = 0.001, m1_Ts = 0.01; //Controller gain Motor 2 & 1 - const double m2_Kp = 5,m2_Ki = 0.05, m2_Kd = 2; + const double m2_Kp = 2.1/57,m2_Ki = 3.9/57, m2_Kd = 0.1/57; const double m1_Kp = 5,m1_Ki = 0.05, m1_Kd = 2; double m2_err_int = 0, m2_prev_err = 0; double m1_err_int = 0, m1_prev_err = 0; + + const double BiGainEMG_L1= 0.231938; + const double EMGL1_a1 = -0.25537145181, EMGL1_a2 = 0.18312488356, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = 2.00000000000*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter + + biquadFilter m2_lowpass (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); -//Derivative filter coeffs Motor 2 & 1 - const double BiGain2 = 0.016955, BiGain1 = 0.016955; - const double m2_f_a1 = -0.96608908283*BiGain2, m2_f_a2 = 0.0*BiGain2, m2_f_b0 = 1.0*BiGain2, m2_f_b1 = 1.0*BiGain2, m2_f_b2 = 0.0*BiGain2; - const double m1_f_a1 = -0.96608908283*BiGain1, m1_f_a2 = 0.0*BiGain1, m1_f_b0 = 1.0*BiGain1, m1_f_b1 = 1.0*BiGain1, m1_f_b2 = 0.0*BiGain1; - -// Filter variables - double m2_f_v1 = 0, m2_f_v2 = 0; - double m1_f_v1 = 0, m1_f_v2 = 0; - + double x; //--------------------------------------------------------------------------------------------------------------------------// // General Functions //--------------------------------------------------------------------------------------------------------------------------// @@ -70,32 +67,24 @@ scope.set(1, position2); scope.set(2, reference1 - position1); scope.set(3, position1); + scope.set(4, x); scope.send(); - } - -// Biquad filter - double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 ) - { - double v = u - a1*v1 - a2*v2; - double y = b0*v + b1*v1 + b2*v2; - v2 = v1; v1 = v; - return y; - } + } // Reusable PID controller - 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, - const double f_a1,const double f_a2, const double f_b0, const double f_b1, const double f_b2) + double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev) { // Derivative double e_der = (e-e_prev)/Ts; - e_der = biquad(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2); + e_der = m2_lowpass.step(e_der); e_prev = e; // Integral e_int = e_int + Ts*e; // PID - return Kp * e + Ki*e_int + Kd*e_der; + x = Kp * e + Ki*e_int + Kd*e_der; + return x; } //--------------------------------------------------------------------------------------------------------------------------// // Motor control functions @@ -106,11 +95,10 @@ { // Setpoint motor 2 reference2 = m2_ref; // Reference in degrees - position2 = Encoder2.getPulses()*360/(32*131); // Position in degrees + position2 = 1.0*Encoder2.getPulses()*360.0/(32.0*131.0); // Position in degrees // Speed control - double m2_P1 = PID( reference2 - position2, 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, - m2_f_b0, m2_f_b1, m2_f_b2); - double m2_P2 = biquad(m2_P1, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2,m2_f_b0, m2_f_b1, m2_f_b2); // Filter of motorspeed input + double m2_P1 = PID( reference2 - position2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err); + double m2_P2 = m2_P1; // Filter of motorspeed input motor2speed = abs(m2_P2); // Direction control if(m2_P2 > 0) @@ -130,9 +118,8 @@ reference1 = m1_ref; // Reference in degrees position1 = Encoder1.getPulses()*360/(32*131); // Position in degrees // Speed control - double m1_P1 = PID( reference1 - position1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err, m1_f_v1, m1_f_v2, m1_f_a1, m1_f_a2, - m1_f_b0, m1_f_b1, m1_f_b2); - double m1_P2 = biquad(m1_P1, m1_f_v1, m1_f_v2, m1_f_a1, m1_f_a2, m1_f_b0, m1_f_b1, m1_f_b2); + double m1_P1 = PID( reference1 - position1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err); + double m1_P2 = m1_P1; motor1speed = abs(m1_P2); // Direction control if(m1_P2 > 0) @@ -162,7 +149,7 @@ // Tickers ScopeTime.attach(&ScopeSend, 0.01f); // 100 Hz, Scope - myControllerTicker2.attach(&motor2_Controller, 0.01f ); // 100 Hz, Motor 2 + myControllerTicker2.attach(&motor2_Controller, m2_Ts ); // 1000 Hz, Motor 2 myControllerTicker1.attach(&motor1_Controller, 0.01f ); // 100 Hz, Motor 1 //--------------------------------------------------------------------------------------------------------------------------//