M9 Biorobotics Group 8 / Mbed 2 deprecated MotorControlv2

Motor control

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@3:07fedd2e252c, 2019-10-11 (annotated)

Committer:
freek100
Date:
Fri Oct 11 12:02:22 2019 +0000
Revision:
3:07fedd2e252c
Parent:
2:d7286c36595f
Child:
4:e7d50c6a7c53
PID-Controller maar geen goede waarden

Who changed what in which revision?

UserRevisionLine numberNew contents of line
freek100 0:e4858e2df9c7 1 #include "mbed.h"
freek100 3:07fedd2e252c 2 #include "HIDScope.h"
freek100 0:e4858e2df9c7 3 #include "QEI.h"
freek100 0:e4858e2df9c7 4 #include "MODSERIAL.h"
freek100 3:07fedd2e252c 5 #include "BiQuad.h"
freek100 0:e4858e2df9c7 6 #include "FastPWM.h"
freek100 0:e4858e2df9c7 7
freek100 0:e4858e2df9c7 8 // Button and potmeter control
freek100 0:e4858e2df9c7 9 InterruptIn button1(D11);
freek100 0:e4858e2df9c7 10 InterruptIn button2(D10);
freek100 0:e4858e2df9c7 11 AnalogIn potmeter(A0);
freek100 0:e4858e2df9c7 12
freek100 0:e4858e2df9c7 13 // Encoder
freek100 0:e4858e2df9c7 14 DigitalIn encA(D13);
freek100 0:e4858e2df9c7 15 DigitalIn encB(D12);
freek100 0:e4858e2df9c7 16 QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING);
freek100 2:d7286c36595f 17 float Ts = 0.01;
freek100 1:08e8cc33fcae 18 float angle;
freek100 1:08e8cc33fcae 19 float omega;
freek100 1:08e8cc33fcae 20
freek100 0:e4858e2df9c7 21
freek100 0:e4858e2df9c7 22 // Motor
freek100 0:e4858e2df9c7 23 DigitalOut motor2Direction(D4);
freek100 0:e4858e2df9c7 24 FastPWM motor2Power(D5);
freek100 0:e4858e2df9c7 25 DigitalOut motor1Direction(D7);
freek100 0:e4858e2df9c7 26 FastPWM motor1Power(D6);
freek100 0:e4858e2df9c7 27
freek100 0:e4858e2df9c7 28 //Motorcontrol
freek100 0:e4858e2df9c7 29 bool motordir;
freek100 0:e4858e2df9c7 30 double motorpwm;
freek100 1:08e8cc33fcae 31 float u1;
freek100 1:08e8cc33fcae 32 double u2;
freek100 0:e4858e2df9c7 33 double potValue;
freek100 1:08e8cc33fcae 34 double pi2= 6.283185;
freek100 2:d7286c36595f 35 float e; //e = error
freek100 3:07fedd2e252c 36 float Kp=17.5;
freek100 3:07fedd2e252c 37 float Ki=1;
freek100 3:07fedd2e252c 38 float Kd=21.5;
freek100 2:d7286c36595f 39 float u_k;
freek100 2:d7286c36595f 40 float u_i;
freek100 2:d7286c36595f 41 float u_d;
freek100 3:07fedd2e252c 42
freek100 0:e4858e2df9c7 43 // PC connection
freek100 0:e4858e2df9c7 44 MODSERIAL pc(USBTX, USBRX);
freek100 0:e4858e2df9c7 45
freek100 0:e4858e2df9c7 46 // Intializing tickers
freek100 0:e4858e2df9c7 47 Ticker motorTicker;
freek100 0:e4858e2df9c7 48 Ticker controlTicker;
freek100 0:e4858e2df9c7 49 Ticker directionTicker;
freek100 1:08e8cc33fcae 50 Ticker encoderTicker;
freek100 0:e4858e2df9c7 51
freek100 0:e4858e2df9c7 52 const float PWM_period = 1e-6;
freek100 0:e4858e2df9c7 53
freek100 0:e4858e2df9c7 54 volatile int counts; // Encoder counts
freek100 0:e4858e2df9c7 55 volatile int countsPrev = 0;
freek100 0:e4858e2df9c7 56 volatile int deltaCounts;
freek100 0:e4858e2df9c7 57
freek100 0:e4858e2df9c7 58 float factorin = 6.23185/64; // Convert encoder counts to angle in rad
freek100 0:e4858e2df9c7 59 float gearratio = 131.25; // Gear ratio of gearbox
freek100 0:e4858e2df9c7 60
freek100 2:d7286c36595f 61
freek100 2:d7286c36595f 62 float PID_controller(float e){
freek100 2:d7286c36595f 63 static float error_integral=0;
freek100 3:07fedd2e252c 64 static float e_prev=e;
freek100 3:07fedd2e252c 65 static BiQuad LowPassFilter(0.0640,0.1279,0.0640,-1.1683,0.4241);
freek100 2:d7286c36595f 66
freek100 2:d7286c36595f 67 //Proportional part:
freek100 2:d7286c36595f 68 u_k=Kp*e;
freek100 2:d7286c36595f 69
freek100 2:d7286c36595f 70 //Integral part
freek100 2:d7286c36595f 71 error_integral=error_integral+e*Ts;
freek100 2:d7286c36595f 72 u_i=Ki*error_integral;
freek100 2:d7286c36595f 73
freek100 3:07fedd2e252c 74 //Derivative part
freek100 3:07fedd2e252c 75 float error_derivative =(e-e_prev)/Ts;
freek100 3:07fedd2e252c 76 float filtered_error_derivative = LowPassFilter.step(error_derivative);
freek100 3:07fedd2e252c 77 u_d=Kd*filtered_error_derivative;
freek100 3:07fedd2e252c 78 e_prev=e;
freek100 3:07fedd2e252c 79
freek100 2:d7286c36595f 80 // Sum and return
freek100 3:07fedd2e252c 81 return u_k+u_i+u_d;
freek100 2:d7286c36595f 82 }
freek100 2:d7286c36595f 83
freek100 0:e4858e2df9c7 84 void motorControl()
freek100 0:e4858e2df9c7 85 {
freek100 1:08e8cc33fcae 86 angle = counts * factorin / gearratio; // Angle of motor shaft in rad
freek100 2:d7286c36595f 87 omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
freek100 0:e4858e2df9c7 88 potValue= potmeter.read();
freek100 1:08e8cc33fcae 89 u1= (potValue*2*pi2)-pi2;
freek100 2:d7286c36595f 90 e=u1-angle;
freek100 2:d7286c36595f 91
freek100 2:d7286c36595f 92 u2=PID_controller(e);
freek100 2:d7286c36595f 93
freek100 2:d7286c36595f 94 motorpwm= abs(u2);
freek100 1:08e8cc33fcae 95 if (u2<0){
freek100 0:e4858e2df9c7 96 motordir= 0;}
freek100 0:e4858e2df9c7 97 else {
freek100 0:e4858e2df9c7 98 motordir= 1;}
freek100 2:d7286c36595f 99 motor1Power.pulsewidth(motorpwm * PWM_period );
freek100 0:e4858e2df9c7 100 motor1Direction= motordir;
freek100 0:e4858e2df9c7 101 }
freek100 0:e4858e2df9c7 102
freek100 1:08e8cc33fcae 103 void readEncoder()
freek100 1:08e8cc33fcae 104 {
freek100 1:08e8cc33fcae 105 counts = encoder.getPulses();
freek100 1:08e8cc33fcae 106 deltaCounts = counts - countsPrev;
freek100 1:08e8cc33fcae 107
freek100 1:08e8cc33fcae 108 countsPrev = counts;
freek100 1:08e8cc33fcae 109 }
freek100 0:e4858e2df9c7 110
freek100 0:e4858e2df9c7 111 int main()
freek100 0:e4858e2df9c7 112 {
freek100 0:e4858e2df9c7 113 pc.baud(115200);
freek100 0:e4858e2df9c7 114 pc.printf("\r\nStarting...\r\n\r\n");
freek100 0:e4858e2df9c7 115
freek100 0:e4858e2df9c7 116 motor1Power.period(PWM_period);
freek100 0:e4858e2df9c7 117 motorTicker.attach(motorControl, 0.01);
freek100 0:e4858e2df9c7 118
freek100 1:08e8cc33fcae 119
freek100 2:d7286c36595f 120 encoderTicker.attach(readEncoder, Ts);
freek100 1:08e8cc33fcae 121
freek100 0:e4858e2df9c7 122 while (true) {
freek100 0:e4858e2df9c7 123
freek100 1:08e8cc33fcae 124 pc.printf("Potmeter: %d \r\n", potValue);
freek100 1:08e8cc33fcae 125 pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts);
freek100 1:08e8cc33fcae 126 pc.printf("Angle: %f Omega: %f\r\n", angle, omega);
freek100 2:d7286c36595f 127 pc.printf("U1: %f Error: %f \r\n",u1, e);
freek100 1:08e8cc33fcae 128
freek100 0:e4858e2df9c7 129 wait(0.5);
freek100 0:e4858e2df9c7 130 }
freek100 0:e4858e2df9c7 131 }