ELEC3850ProjectSynchronousMachine01 / Mbed 2 deprecated ProjectCode01

Main code of our project.

Dependencies:   TextLCD mbed PID

main.cpp@11:b6bee52941ea, 2018-10-17 (annotated)

Committer:
nicovv44
Date:
Wed Oct 17 07:32:12 2018 +0000
Revision:
11:b6bee52941ea
Parent:
9:70bfbd406554
Child:
12:ed2a94c17109
PID frequency OK, but could be tuned better.

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 11:b6bee52941ea 5 #define PIDRATE 0.10
nicovv44 9:70bfbd406554 6
nicovv44 9:70bfbd406554 7 //Kc, Ti, Td, interval
nicovv44 11:b6bee52941ea 8 PID PIDcontroller1(1.0, 3.0, 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 11:b6bee52941ea 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 11:b6bee52941ea 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 11:b6bee52941ea 82 PIDcontroller1.setProcessValue(syncFreq);
nicovv44 9:70bfbd406554 83 //Interrupt for a correct PID rate
nicovv44 11:b6bee52941ea 84 tickerPID.attach(&tickerPIDfunction, PIDRATE);
nicovv44 4:886ce7eefa6e 85 //display values on LCD
nicovv44 4:886ce7eefa6e 86 displayLCD(syncRMS, gridRMS, syncFreq, gridFreq);
nicovv44 11:b6bee52941ea 87 PID1Output = PIDcontroller1.compute();
nicovv44 11:b6bee52941ea 88 pwmDC.write(1-PID1Output); //(1-duty)
nicovv44 11:b6bee52941ea 89 pc.printf("PID1:%f \tfreq:%f \r\n\n", PID1Output, syncFreq);
nicovv44 11:b6bee52941ea 90 wait(PIDRATE);
nicovv44 4:886ce7eefa6e 91 //voltage and frequency matching
nicovv44 4:886ce7eefa6e 92 if(abs(syncRMS-gridRMS)<0.5 && abs(syncFreq-gridFreq)<0.1){
nicovv44 4:886ce7eefa6e 93 pc.printf("voltage and freqency OK\r\n");
nicovv44 4:886ce7eefa6e 94 lcd.locate(0,0);//(col,row)
nicovv44 4:886ce7eefa6e 95 lcd.printf("V&f OK");
nicovv44 4:886ce7eefa6e 96 while(!synchronized){//phase matching loop
nicovv44 4:886ce7eefa6e 97 //phase matching
nicovv44 7:1f7d87007512 98 if(getVolageReadedMax(differentialPin) < 0.050){
nicovv44 4:886ce7eefa6e 99 pc.printf("SYNCHONIZATION OK\r\n\n");
nicovv44 4:886ce7eefa6e 100 lcd.locate(0,1);//(col,row)
nicovv44 4:886ce7eefa6e 101 lcd.printf("SYNC OK ");
nicovv44 5:e9766e0573d0 102 relay1 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 5:e9766e0573d0 103 relay2 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 5:e9766e0573d0 104 relay3 = 0;//Relay off=1, on=0 // to hear the noise
nicovv44 8:a161b056971c 105 relay4 = 1;//Relay off=1, on=0 // to hear the noise
nicovv44 4:886ce7eefa6e 106 synchronized = true;
nicovv44 4:886ce7eefa6e 107 mainLoop = false;
nicovv44 4:886ce7eefa6e 108 }
nicovv44 4:886ce7eefa6e 109 }
nicovv44 4:886ce7eefa6e 110 }
nicovv44 4:886ce7eefa6e 111 }
nicovv44 1:f31a46c62d10 112 }
nicovv44 1:f31a46c62d10 113
nicovv44 5:e9766e0573d0 114
nicovv44 1:f31a46c62d10 115
nicovv44 3:a1b11dfd26f3 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
nicovv44 0:1f66eaf1013d 124
nicovv44 0:1f66eaf1013d 125 // ##############################################
nicovv44 0:1f66eaf1013d 126 // ########## FUNCTIONS #########################
nicovv44 0:1f66eaf1013d 127 // #############################################################################
nicovv44 0:1f66eaf1013d 128 // ISR to stop loping
nicovv44 0:1f66eaf1013d 129 void stopLooping(void) {
nicovv44 0:1f66eaf1013d 130 looping = false;//looping is volatile bool
nicovv44 0:1f66eaf1013d 131 }
nicovv44 0:1f66eaf1013d 132
nicovv44 0:1f66eaf1013d 133 // #############################################################################
nicovv44 5:e9766e0573d0 134 // ISR to update pwmDC with potarDC
nicovv44 5:e9766e0573d0 135 void tickerPWMDCfunction(){
nicovv44 5:e9766e0573d0 136 float valuePotar1;
nicovv44 5:e9766e0573d0 137 float valuePotar2;
nicovv44 5:e9766e0573d0 138 valuePotar1 = potarDC.read();
nicovv44 7:1f7d87007512 139 pwmDC.write(1-valuePotar1);
nicovv44 5:e9766e0573d0 140 valuePotar2 = potarSY.read();
nicovv44 7:1f7d87007512 141 pwmSY.write(1-valuePotar2);
nicovv44 5:e9766e0573d0 142 //lcd.locate(12,0);//(col,row)
nicovv44 5:e9766e0573d0 143 //lcd.printf("%f",valuePotar);
nicovv44 5:e9766e0573d0 144 }
nicovv44 5:e9766e0573d0 145
nicovv44 9:70bfbd406554 146
nicovv44 9:70bfbd406554 147 // #############################################################################
nicovv44 9:70bfbd406554 148 // ISR to update PID
nicovv44 9:70bfbd406554 149 void tickerPIDfunction(){
nicovv44 9:70bfbd406554 150 PID1Output = PIDcontroller1.compute();
nicovv44 9:70bfbd406554 151 pwmDC.write(1-PID1Output); //(1-duty)
nicovv44 9:70bfbd406554 152 pc.printf("PID1:%f\r\n\n", PID1Output);
nicovv44 9:70bfbd406554 153 }
nicovv44 9:70bfbd406554 154
nicovv44 9:70bfbd406554 155
nicovv44 9:70bfbd406554 156 // #############################################################################
nicovv44 9:70bfbd406554 157 void initPID1(){
nicovv44 9:70bfbd406554 158 //Input from 0.0 to 60Hz
nicovv44 9:70bfbd406554 159 PIDcontroller1.setInputLimits(0.0, 50.0);
nicovv44 9:70bfbd406554 160 //Pwm output from 0.0 to 1.0
nicovv44 9:70bfbd406554 161 PIDcontroller1.setOutputLimits(0.0, 1.0);
nicovv44 9:70bfbd406554 162 //If there's a bias.
nicovv44 11:b6bee52941ea 163 PIDcontroller1.setBias(0.70);
nicovv44 9:70bfbd406554 164 PIDcontroller1.setMode(true);
nicovv44 9:70bfbd406554 165 //We want the process variable to be 50Hz
nicovv44 9:70bfbd406554 166 PIDcontroller1.setSetPoint(50);//50Hz
nicovv44 9:70bfbd406554 167 }
nicovv44 9:70bfbd406554 168
nicovv44 5:e9766e0573d0 169 // #############################################################################
nicovv44 0:1f66eaf1013d 170 float getVolageRMS(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 171 float v1;//readed voltage
nicovv44 0:1f66eaf1013d 172 float v1Max = 0;//max readed voltage
nicovv44 0:1f66eaf1013d 173 float VRMS; //RMS voltage
nicovv44 0:1f66eaf1013d 174 looping = true;
nicovv44 1:f31a46c62d10 175 timeout.attach(callback(&stopLooping), 0.020);//T=20ms because f=50Hz
nicovv44 0:1f66eaf1013d 176 while(looping){
nicovv44 0:1f66eaf1013d 177 v1 = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 178 if(v1 > v1Max){
nicovv44 0:1f66eaf1013d 179 v1Max = v1;
nicovv44 0:1f66eaf1013d 180 }
nicovv44 0:1f66eaf1013d 181 }
nicovv44 3:a1b11dfd26f3 182 VRMS = (v1Max+0.685)*9.32/sqrt2;
nicovv44 4:886ce7eefa6e 183 //pc.printf("VRMS: %f\r\n",VRMS);
nicovv44 0:1f66eaf1013d 184 return VRMS;
nicovv44 0:1f66eaf1013d 185 }
nicovv44 0:1f66eaf1013d 186
nicovv44 0:1f66eaf1013d 187
nicovv44 0:1f66eaf1013d 188 // #############################################################################
nicovv44 0:1f66eaf1013d 189 float getVolageReadedMax(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 190 float v1;//readed voltage
nicovv44 0:1f66eaf1013d 191 float v1Max = 0;//max readed voltage
nicovv44 0:1f66eaf1013d 192 looping = true;
nicovv44 1:f31a46c62d10 193 timeout.attach(callback(&stopLooping), 0.025);//T=25>20ms because f=50Hz
nicovv44 0:1f66eaf1013d 194 while(looping){
nicovv44 0:1f66eaf1013d 195 v1 = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 196 if(v1 > v1Max){
nicovv44 0:1f66eaf1013d 197 v1Max = v1;
nicovv44 0:1f66eaf1013d 198 }
nicovv44 0:1f66eaf1013d 199 }
nicovv44 0:1f66eaf1013d 200 return v1Max;
nicovv44 0:1f66eaf1013d 201 }
nicovv44 0:1f66eaf1013d 202
nicovv44 1:f31a46c62d10 203
nicovv44 0:1f66eaf1013d 204 // #############################################################################
nicovv44 0:1f66eaf1013d 205 float getFrequency(AnalogIn ana_pin){
nicovv44 0:1f66eaf1013d 206 float freq; //frequency
nicovv44 0:1f66eaf1013d 207 float maxReadedVoltage;//maximum voltage readed by the ADC
nicovv44 0:1f66eaf1013d 208 float readedVoltage;//readed voltage
nicovv44 0:1f66eaf1013d 209 int nbrRisingEdge=0;// number of rising edge detected
nicovv44 0:1f66eaf1013d 210 float T;//Periode
nicovv44 0:1f66eaf1013d 211 Timer timer;
nicovv44 0:1f66eaf1013d 212 maxReadedVoltage = getVolageReadedMax(ana_pin);
nicovv44 11:b6bee52941ea 213 //pc.printf("maxReadedVoltage: %f\r\n",maxReadedVoltage);
nicovv44 0:1f66eaf1013d 214 bool aboveLine = true;
nicovv44 11:b6bee52941ea 215 bool allowedClicTimer = false;
nicovv44 1:f31a46c62d10 216 looping = true;
nicovv44 1:f31a46c62d10 217 timeout.attach(callback(&stopLooping), 1);//try to find rising edges during 1sec max
nicovv44 1:f31a46c62d10 218 while(nbrRisingEdge<2 and looping){
nicovv44 0:1f66eaf1013d 219 readedVoltage = ana_pin.read()*3.3;
nicovv44 0:1f66eaf1013d 220 if(readedVoltage<(maxReadedVoltage/2)){//rising edge detection ready
nicovv44 0:1f66eaf1013d 221 aboveLine = false;
nicovv44 0:1f66eaf1013d 222 }
nicovv44 0:1f66eaf1013d 223 if((maxReadedVoltage/2)<readedVoltage && aboveLine==false){//rising edge detected
nicovv44 11:b6bee52941ea 224 allowedClicTimer = true;
nicovv44 0:1f66eaf1013d 225 aboveLine = true;
nicovv44 11:b6bee52941ea 226 }
nicovv44 11:b6bee52941ea 227 if((maxReadedVoltage*2/3)<readedVoltage && allowedClicTimer==true){//rising edge detected
nicovv44 11:b6bee52941ea 228 allowedClicTimer = false;
nicovv44 0:1f66eaf1013d 229 if(nbrRisingEdge==0)
nicovv44 0:1f66eaf1013d 230 timer.start();
nicovv44 0:1f66eaf1013d 231 if(nbrRisingEdge==1)
nicovv44 0:1f66eaf1013d 232 timer.stop();
nicovv44 0:1f66eaf1013d 233 nbrRisingEdge++;
nicovv44 0:1f66eaf1013d 234 }
nicovv44 11:b6bee52941ea 235
nicovv44 0:1f66eaf1013d 236 }
nicovv44 1:f31a46c62d10 237 if(nbrRisingEdge!=2){
nicovv44 1:f31a46c62d10 238 lcd.locate(13,1);
nicovv44 1:f31a46c62d10 239 lcd.printf("f!%d",nbrRisingEdge);
nicovv44 1:f31a46c62d10 240 }
nicovv44 0:1f66eaf1013d 241 T = timer.read();
nicovv44 0:1f66eaf1013d 242 freq = 1/T;
nicovv44 4:886ce7eefa6e 243 //pc.printf("T: %f\r\n",T);
nicovv44 4:886ce7eefa6e 244 //pc.printf("freq: %f\r\n\n",freq);
nicovv44 11:b6bee52941ea 245 if(looping==false)
nicovv44 11:b6bee52941ea 246 freq = 0;
nicovv44 0:1f66eaf1013d 247 return freq;
nicovv44 4:886ce7eefa6e 248 }
nicovv44 4:886ce7eefa6e 249
nicovv44 4:886ce7eefa6e 250
nicovv44 4:886ce7eefa6e 251 // #############################################################################
nicovv44 4:886ce7eefa6e 252 void displayLCD(float syncRMS, float gridRMS, float syncFreq, float gridFreq){
nicovv44 9:70bfbd406554 253 //lcd.locate(0,0);//(col,row)
nicovv44 9:70bfbd406554 254 //lcd.printf(" ");
nicovv44 9:70bfbd406554 255 lcd.locate(0,1);//(col,row)
nicovv44 9:70bfbd406554 256 lcd.printf(" ");
nicovv44 9:70bfbd406554 257 //lcd.locate(0,0);//(col,row)
nicovv44 9:70bfbd406554 258 //lcd.printf("G:%3.1f@%3.1f", gridRMS, gridFreq);
nicovv44 9:70bfbd406554 259 lcd.locate(0,1);//(col,row)
nicovv44 9:70bfbd406554 260 lcd.printf("S:%3.1f@%3.1f", syncRMS, syncFreq);
nicovv44 9:70bfbd406554 261
nicovv44 1:f31a46c62d10 262 }