ELEC3850ProjectSynchronousMachine01 / Mbed 2 deprecated ProjectCode01

Main code of our project.

Dependencies:   TextLCD mbed PID

main.cpp@9:70bfbd406554, 2018-10-17 (annotated)

Committer:
nicovv44
Date:
Wed Oct 17 05:35:55 2018 +0000
Revision:
9:70bfbd406554
Parent:
8:a161b056971c
Child:
11:b6bee52941ea
not working code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nicovv44 0:1f66eaf1013d 1 #include "mbed.h"
nicovv44 0:1f66eaf1013d 2 #include "TextLCD.h"
nicovv44 9:70bfbd406554 3 #include "PID.h"
nicovv44 9:70bfbd406554 4
nicovv44 9:70bfbd406554 5 #define PIDRATE 0.05
nicovv44 9:70bfbd406554 6
nicovv44 9:70bfbd406554 7 //Kc, Ti, Td, interval
nicovv44 9:70bfbd406554 8 PID PIDcontroller1(23, 0.0, 0.0, PIDRATE);
nicovv44 0:1f66eaf1013d 9
nicovv44 0:1f66eaf1013d 10 TextLCD lcd(D2, D3, D4, D5, D6, D7); // rs, e, d4-d7
nicovv44 0:1f66eaf1013d 11 Serial pc(USBTX, USBRX); // tx, rx
nicovv44 5:e9766e0573d0 12 PwmOut pwmDC(D9);
nicovv44 5:e9766e0573d0 13 PwmOut pwmSY(D13);
nicovv44 5:e9766e0573d0 14 DigitalOut relay1(D8);
nicovv44 5:e9766e0573d0 15 DigitalOut relay2(D14);
nicovv44 5:e9766e0573d0 16 DigitalOut relay3(D11);
nicovv44 5:e9766e0573d0 17 DigitalOut relay4(D12);
nicovv44 0:1f66eaf1013d 18
nicovv44 3:a1b11dfd26f3 19 AnalogIn syncPin(A0);
nicovv44 3:a1b11dfd26f3 20 AnalogIn gridPin(A1);
nicovv44 3:a1b11dfd26f3 21 AnalogIn differentialPin(A2);
nicovv44 5:e9766e0573d0 22 AnalogIn potarDC(A3);
nicovv44 5:e9766e0573d0 23 AnalogIn potarSY(A4);
nicovv44 0:1f66eaf1013d 24
nicovv44 0:1f66eaf1013d 25 const float sqrt2 = 1.414213562;
nicovv44 0:1f66eaf1013d 26
nicovv44 0:1f66eaf1013d 27 Timeout timeout;
nicovv44 5:e9766e0573d0 28 Ticker tickerPWMDC;
nicovv44 9:70bfbd406554 29 //Ticker tickerPID;
nicovv44 0:1f66eaf1013d 30 volatile bool looping = false;
nicovv44 4:886ce7eefa6e 31 volatile bool synchronized = false;
nicovv44 4:886ce7eefa6e 32 volatile bool mainLoop = true;
nicovv44 9:70bfbd406554 33 volatile float PID1Output;
nicovv44 0:1f66eaf1013d 34
nicovv44 0:1f66eaf1013d 35
nicovv44 0:1f66eaf1013d 36 // ##############################################
nicovv44 0:1f66eaf1013d 37 // ########## PROTOTYPES ########################
nicovv44 0:1f66eaf1013d 38 // #############################################################################
nicovv44 0:1f66eaf1013d 39 void stopLooping(void);
nicovv44 0:1f66eaf1013d 40 float getVolageRMS(AnalogIn ana_pin);
nicovv44 0:1f66eaf1013d 41 float getVolageReadedMax(AnalogIn ana_pin);
nicovv44 0:1f66eaf1013d 42 float getFrequency(AnalogIn ana_pin);
nicovv44 4:886ce7eefa6e 43 void displayLCD(float syncRMS, float gridRMS, float syncFreq, float gridFreq);
nicovv44 5:e9766e0573d0 44 void tickerPWMDCfunction();
nicovv44 9:70bfbd406554 45 void initPID1();
nicovv44 9:70bfbd406554 46 void tickerPIDfunction();
nicovv44 0:1f66eaf1013d 47
nicovv44 0:1f66eaf1013d 48
nicovv44 0:1f66eaf1013d 49 // ##############################################
nicovv44 0:1f66eaf1013d 50 // ########## MAIN ##############################
nicovv44 0:1f66eaf1013d 51 // #############################################################################
nicovv44 0:1f66eaf1013d 52 int main() {
nicovv44 3:a1b11dfd26f3 53 float syncRMS, gridRMS, syncFreq, gridFreq;
nicovv44 9:70bfbd406554 54
nicovv44 9:70bfbd406554 55 //initialise PIDcontroller1
nicovv44 9:70bfbd406554 56 initPID1();
nicovv44 0:1f66eaf1013d 57
nicovv44 5:e9766e0573d0 58 relay1 = 1;//Relay off=1, on=0
nicovv44 5:e9766e0573d0 59 relay2 = 1;//Relay off=1, on=0
nicovv44 5:e9766e0573d0 60 relay3 = 1;//Relay off=1, on=0
nicovv44 8:a161b056971c 61 relay4 = 0;//Relay off=1, on=0
nicovv44 5:e9766e0573d0 62
nicovv44 4:886ce7eefa6e 63 while(mainLoop){
nicovv44 5:e9766e0573d0 64 pwmDC.period(0.001f);
nicovv44 9:70bfbd406554 65 pwmDC.write(1-0.90f); //(1-duty)
nicovv44 8:a161b056971c 66 pwmSY.period(0.001f); //(1-duty)
nicovv44 8:a161b056971c 67 pwmSY.write(1-0.80f);
nicovv44 8:a161b056971c 68 //tickerPWMDC.attach(&tickerPWMDCfunction, 0.1);
nicovv44 3:a1b11dfd26f3 69
nicovv44 9:70bfbd406554 70 pc.printf("\n\nAccelerating\r\n");
nicovv44 9:70bfbd406554 71 wait(5);//wait so the motor get steady state
nicovv44 9:70bfbd406554 72 pwmDC.write(1-0.00f); //(1-duty)
nicovv44 9:70bfbd406554 73
nicovv44 4:886ce7eefa6e 74 //manual synchronisation
nicovv44 4:886ce7eefa6e 75 while(!synchronized){
nicovv44 4:886ce7eefa6e 76 //measure and calculate desired value
nicovv44 4:886ce7eefa6e 77 syncRMS = getVolageRMS(syncPin);
nicovv44 4:886ce7eefa6e 78 gridRMS = getVolageRMS(gridPin);
nicovv44 4:886ce7eefa6e 79 syncFreq = getFrequency(syncPin);
nicovv44 4:886ce7eefa6e 80 gridFreq = getFrequency(gridPin);
nicovv44 9:70bfbd406554 81 //Update the PID process variable.
nicovv44 9:70bfbd406554 82 //PIDcontroller1.setProcessValue(syncFreq);
nicovv44 9:70bfbd406554 83 pc.printf("syncFreq:%F\n\r", syncFreq);
nicovv44 9:70bfbd406554 84 //Interrupt for a correct PID rate
nicovv44 9:70bfbd406554 85 //tickerPID.attach(&tickerPIDfunction, PIDRATE);
nicovv44 4:886ce7eefa6e 86 //display values on LCD
nicovv44 4:886ce7eefa6e 87 displayLCD(syncRMS, gridRMS, syncFreq, gridFreq);
nicovv44 4:886ce7eefa6e 88 //voltage and frequency matching
nicovv44 4:886ce7eefa6e 89 if(abs(syncRMS-gridRMS)<0.5 && abs(syncFreq-gridFreq)<0.1){
nicovv44 4:886ce7eefa6e 90 pc.printf("voltage and freqency OK\r\n");
nicovv44 4:886ce7eefa6e 91 lcd.locate(0,0);//(col,row)
nicovv44 4:886ce7eefa6e 92 lcd.printf("V&f OK");
nicovv44 4:886ce7eefa6e 93 while(!synchronized){//phase matching loop
nicovv44 4:886ce7eefa6e 94 //phase matching
nicovv44 7:1f7d87007512 95 if(getVolageReadedMax(differentialPin) < 0.050){
nicovv44 4:886ce7eefa6e 96 pc.printf("SYNCHONIZATION OK\r\n\n");
nicovv44 4:886ce7eefa6e 97 lcd.locate(0,1);//(col,row)
nicovv44 4:886ce7eefa6e 98 lcd.printf("SYNC OK ");
nicovv44 5:e9766e0573d0 99 relay1 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 5:e9766e0573d0 100 relay2 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 5:e9766e0573d0 101 relay3 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 8:a161b056971c 102 relay4 = 1;//Relay off=1, on=0 // to hear the noise
nicovv44 4:886ce7eefa6e 103 synchronized = true;
nicovv44 4:886ce7eefa6e 104 mainLoop = false;
nicovv44 4:886ce7eefa6e 105 }
nicovv44 4:886ce7eefa6e 106 }
nicovv44 4:886ce7eefa6e 107 }
nicovv44 4:886ce7eefa6e 108 }
nicovv44 1:f31a46c62d10 109 }
nicovv44 1:f31a46c62d10 110
nicovv44 5:e9766e0573d0 111
nicovv44 1:f31a46c62d10 112
nicovv44 3:a1b11dfd26f3 113
nicovv44 0:1f66eaf1013d 114 }
nicovv44 0:1f66eaf1013d 115
nicovv44 0:1f66eaf1013d 116
nicovv44 0:1f66eaf1013d 117
nicovv44 0:1f66eaf1013d 118
nicovv44 0:1f66eaf1013d 119
nicovv44 0:1f66eaf1013d 120
nicovv44 0:1f66eaf1013d 121
nicovv44 0:1f66eaf1013d 122 // ##############################################
nicovv44 0:1f66eaf1013d 123 // ########## FUNCTIONS #########################
nicovv44 0:1f66eaf1013d 124 // #############################################################################
nicovv44 0:1f66eaf1013d 125 // ISR to stop loping
nicovv44 0:1f66eaf1013d 126 void stopLooping(void) {
nicovv44 0:1f66eaf1013d 127 looping = false;//looping is volatile bool
nicovv44 0:1f66eaf1013d 128 }
nicovv44 0:1f66eaf1013d 129
nicovv44 0:1f66eaf1013d 130 // #############################################################################
nicovv44 5:e9766e0573d0 131 // ISR to update pwmDC with potarDC
nicovv44 5:e9766e0573d0 132 void tickerPWMDCfunction(){
nicovv44 5:e9766e0573d0 133 float valuePotar1;
nicovv44 5:e9766e0573d0 134 float valuePotar2;
nicovv44 5:e9766e0573d0 135 valuePotar1 = potarDC.read();
nicovv44 7:1f7d87007512 136 pwmDC.write(1-valuePotar1);
nicovv44 5:e9766e0573d0 137 valuePotar2 = potarSY.read();
nicovv44 7:1f7d87007512 138 pwmSY.write(1-valuePotar2);
nicovv44 5:e9766e0573d0 139 //lcd.locate(12,0);//(col,row)
nicovv44 5:e9766e0573d0 140 //lcd.printf("%f",valuePotar);
nicovv44 5:e9766e0573d0 141 }
nicovv44 5:e9766e0573d0 142
nicovv44 9:70bfbd406554 143
nicovv44 9:70bfbd406554 144 // #############################################################################
nicovv44 9:70bfbd406554 145 // ISR to update PID
nicovv44 9:70bfbd406554 146 void tickerPIDfunction(){
nicovv44 9:70bfbd406554 147 PID1Output = PIDcontroller1.compute();
nicovv44 9:70bfbd406554 148 pwmDC.write(1-PID1Output); //(1-duty)
nicovv44 9:70bfbd406554 149 pc.printf("PID1:%f\r\n\n", PID1Output);
nicovv44 9:70bfbd406554 150 }
nicovv44 9:70bfbd406554 151
nicovv44 9:70bfbd406554 152
nicovv44 9:70bfbd406554 153 // #############################################################################
nicovv44 9:70bfbd406554 154 void initPID1(){
nicovv44 9:70bfbd406554 155 //Input from 0.0 to 60Hz
nicovv44 9:70bfbd406554 156 PIDcontroller1.setInputLimits(0.0, 50.0);
nicovv44 9:70bfbd406554 157 //Pwm output from 0.0 to 1.0
nicovv44 9:70bfbd406554 158 PIDcontroller1.setOutputLimits(0.0, 1.0);
nicovv44 9:70bfbd406554 159 //If there's a bias.
nicovv44 9:70bfbd406554 160 PIDcontroller1.setBias(0.0);
nicovv44 9:70bfbd406554 161 PIDcontroller1.setMode(true);
nicovv44 9:70bfbd406554 162 //We want the process variable to be 50Hz
nicovv44 9:70bfbd406554 163 PIDcontroller1.setSetPoint(50);//50Hz
nicovv44 9:70bfbd406554 164 }
nicovv44 9:70bfbd406554 165
nicovv44 5:e9766e0573d0 166 // #############################################################################
nicovv44 0:1f66eaf1013d 167 float getVolageRMS(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 168 float v1;//readed voltage
nicovv44 0:1f66eaf1013d 169 float v1Max = 0;//max readed voltage
nicovv44 0:1f66eaf1013d 170 float VRMS; //RMS voltage
nicovv44 0:1f66eaf1013d 171 looping = true;
nicovv44 1:f31a46c62d10 172 timeout.attach(callback(&stopLooping), 0.020);//T=20ms because f=50Hz
nicovv44 0:1f66eaf1013d 173 while(looping){
nicovv44 0:1f66eaf1013d 174 v1 = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 175 if(v1 > v1Max){
nicovv44 0:1f66eaf1013d 176 v1Max = v1;
nicovv44 0:1f66eaf1013d 177 }
nicovv44 0:1f66eaf1013d 178 }
nicovv44 3:a1b11dfd26f3 179 VRMS = (v1Max+0.685)*9.32/sqrt2;
nicovv44 4:886ce7eefa6e 180 //pc.printf("VRMS: %f\r\n",VRMS);
nicovv44 0:1f66eaf1013d 181 return VRMS;
nicovv44 0:1f66eaf1013d 182 }
nicovv44 0:1f66eaf1013d 183
nicovv44 0:1f66eaf1013d 184
nicovv44 0:1f66eaf1013d 185 // #############################################################################
nicovv44 0:1f66eaf1013d 186 float getVolageReadedMax(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 187 float v1;//readed voltage
nicovv44 0:1f66eaf1013d 188 float v1Max = 0;//max readed voltage
nicovv44 0:1f66eaf1013d 189 looping = true;
nicovv44 1:f31a46c62d10 190 timeout.attach(callback(&stopLooping), 0.025);//T=25>20ms because f=50Hz
nicovv44 0:1f66eaf1013d 191 while(looping){
nicovv44 0:1f66eaf1013d 192 v1 = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 193 if(v1 > v1Max){
nicovv44 0:1f66eaf1013d 194 v1Max = v1;
nicovv44 0:1f66eaf1013d 195 }
nicovv44 0:1f66eaf1013d 196 }
nicovv44 0:1f66eaf1013d 197 return v1Max;
nicovv44 0:1f66eaf1013d 198 }
nicovv44 0:1f66eaf1013d 199
nicovv44 1:f31a46c62d10 200
nicovv44 0:1f66eaf1013d 201 // #############################################################################
nicovv44 0:1f66eaf1013d 202 float getFrequency(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 203 float freq; //frequency
nicovv44 0:1f66eaf1013d 204 float maxReadedVoltage;//maximum voltage readed by the ADC
nicovv44 0:1f66eaf1013d 205 float readedVoltage;//readed voltage
nicovv44 0:1f66eaf1013d 206 int nbrRisingEdge=0;// number of rising edge detected
nicovv44 0:1f66eaf1013d 207 float T;//Periode
nicovv44 0:1f66eaf1013d 208 Timer timer;
nicovv44 0:1f66eaf1013d 209 maxReadedVoltage = getVolageReadedMax(ana_pin);
nicovv44 9:70bfbd406554 210 pc.printf("maxReadedVoltage: %f\r\n",maxReadedVoltage);
nicovv44 0:1f66eaf1013d 211 bool aboveLine = true;
nicovv44 1:f31a46c62d10 212 looping = true;
nicovv44 1:f31a46c62d10 213 timeout.attach(callback(&stopLooping), 1);//try to find rising edges during 1sec max
nicovv44 1:f31a46c62d10 214 while(nbrRisingEdge<2 and looping){
nicovv44 0:1f66eaf1013d 215 readedVoltage = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 216 if(readedVoltage<(maxReadedVoltage/2)){//rising edge detection ready
nicovv44 0:1f66eaf1013d 217 aboveLine = false;
nicovv44 0:1f66eaf1013d 218 }
nicovv44 0:1f66eaf1013d 219 if((maxReadedVoltage/2)<readedVoltage && aboveLine==false){//rising edge detected
nicovv44 0:1f66eaf1013d 220 aboveLine = true;
nicovv44 0:1f66eaf1013d 221 if(nbrRisingEdge==0)
nicovv44 0:1f66eaf1013d 222 timer.start();
nicovv44 0:1f66eaf1013d 223 if(nbrRisingEdge==1)
nicovv44 0:1f66eaf1013d 224 timer.stop();
nicovv44 0:1f66eaf1013d 225 nbrRisingEdge++;
nicovv44 0:1f66eaf1013d 226 }
nicovv44 0:1f66eaf1013d 227 }
nicovv44 1:f31a46c62d10 228 if(nbrRisingEdge!=2){
nicovv44 1:f31a46c62d10 229 lcd.locate(13,1);
nicovv44 1:f31a46c62d10 230 lcd.printf("f!%d",nbrRisingEdge);
nicovv44 1:f31a46c62d10 231 }
nicovv44 0:1f66eaf1013d 232 T = timer.read();
nicovv44 0:1f66eaf1013d 233 freq = 1/T;
nicovv44 4:886ce7eefa6e 234 //pc.printf("T: %f\r\n",T);
nicovv44 4:886ce7eefa6e 235 //pc.printf("freq: %f\r\n\n",freq);
nicovv44 0:1f66eaf1013d 236 return freq;
nicovv44 4:886ce7eefa6e 237 }
nicovv44 4:886ce7eefa6e 238
nicovv44 4:886ce7eefa6e 239
nicovv44 4:886ce7eefa6e 240 // #############################################################################
nicovv44 4:886ce7eefa6e 241 void displayLCD(float syncRMS, float gridRMS, float syncFreq, float gridFreq){
nicovv44 9:70bfbd406554 242 //lcd.locate(0,0);//(col,row)
nicovv44 9:70bfbd406554 243 //lcd.printf(" ");
nicovv44 9:70bfbd406554 244 lcd.locate(0,1);//(col,row)
nicovv44 9:70bfbd406554 245 lcd.printf(" ");
nicovv44 9:70bfbd406554 246 //lcd.locate(0,0);//(col,row)
nicovv44 9:70bfbd406554 247 //lcd.printf("G:%3.1f@%3.1f", gridRMS, gridFreq);
nicovv44 9:70bfbd406554 248 lcd.locate(0,1);//(col,row)
nicovv44 9:70bfbd406554 249 lcd.printf("S:%3.1f@%3.1f", syncRMS, syncFreq);
nicovv44 9:70bfbd406554 250
nicovv44 1:f31a46c62d10 251 }