M9 Biorobotics Group 8 / Mbed 2 deprecated MotorControlv2

Motor control

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@12:23b94b5dcc60, 2019-10-18 (annotated)

Committer:
freek100
Date:
Fri Oct 18 10:36:42 2019 +0000
Revision:
12:23b94b5dcc60
Parent:
11:94a4dd7ed05c
Child:
13:048458947701
grote togglehoek om overshoot te testen

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 6:1c0b6e55e900 8 // Button and potmeter1 control
freek100 0:e4858e2df9c7 9 InterruptIn button1(D11);
freek100 0:e4858e2df9c7 10 InterruptIn button2(D10);
BasB 10:b871d1b05787 11 InterruptIn buttonsw2(SW2);
BasB 10:b871d1b05787 12 InterruptIn buttonsw3(SW3);
freek100 6:1c0b6e55e900 13 AnalogIn potmeter1(A0);
freek100 6:1c0b6e55e900 14 AnalogIn potmeter2(A1);
freek100 8:c6c94d55b088 15 AnalogIn potmeter3(A2);
BasB 9:08a7a8e59a6a 16 AnalogIn potmeter4(A3);
freek100 0:e4858e2df9c7 17 // Encoder
freek100 0:e4858e2df9c7 18 DigitalIn encA(D13);
freek100 0:e4858e2df9c7 19 DigitalIn encB(D12);
freek100 0:e4858e2df9c7 20 QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING);
freek100 2:d7286c36595f 21 float Ts = 0.01;
freek100 1:08e8cc33fcae 22 float angle;
freek100 1:08e8cc33fcae 23 float omega;
freek100 1:08e8cc33fcae 24
freek100 0:e4858e2df9c7 25
freek100 0:e4858e2df9c7 26 // Motor
freek100 0:e4858e2df9c7 27 DigitalOut motor2Direction(D4);
freek100 0:e4858e2df9c7 28 FastPWM motor2Power(D5);
freek100 0:e4858e2df9c7 29 DigitalOut motor1Direction(D7);
freek100 0:e4858e2df9c7 30 FastPWM motor1Power(D6);
freek100 0:e4858e2df9c7 31
freek100 5:17aa878564d0 32 volatile int motor1Toggle = 1;
freek100 5:17aa878564d0 33
freek100 0:e4858e2df9c7 34 //Motorcontrol
freek100 0:e4858e2df9c7 35 bool motordir;
freek100 0:e4858e2df9c7 36 double motorpwm;
BasB 10:b871d1b05787 37 double premotorpwm;
freek100 11:94a4dd7ed05c 38 float refangle= 0;
freek100 1:08e8cc33fcae 39 double u2;
freek100 0:e4858e2df9c7 40 double potValue;
freek100 1:08e8cc33fcae 41 double pi2= 6.283185;
freek100 2:d7286c36595f 42 float e; //e = error
BasB 10:b871d1b05787 43 float Kp=0.49;
freek100 8:c6c94d55b088 44 float Ki;
freek100 2:d7286c36595f 45 float u_k;
freek100 2:d7286c36595f 46 float u_i;
freek100 3:07fedd2e252c 47
freek100 11:94a4dd7ed05c 48 //Windup control
freek100 11:94a4dd7ed05c 49 float ux;
freek100 11:94a4dd7ed05c 50 float up;
freek100 11:94a4dd7ed05c 51 float ek;
freek100 11:94a4dd7ed05c 52 float ei= 0;
freek100 11:94a4dd7ed05c 53 float Ka= 1;
freek100 11:94a4dd7ed05c 54
freek100 4:e7d50c6a7c53 55 //Hidscope
freek100 4:e7d50c6a7c53 56 HIDScope scope(3); //Going to send 3 channels of data. To access data go to 'http:/localhost:18082/' after starting HIDScope application.
freek100 0:e4858e2df9c7 57 // PC connection
freek100 0:e4858e2df9c7 58 MODSERIAL pc(USBTX, USBRX);
freek100 0:e4858e2df9c7 59
freek100 0:e4858e2df9c7 60 // Intializing tickers
freek100 0:e4858e2df9c7 61 Ticker motorTicker;
freek100 0:e4858e2df9c7 62 Ticker controlTicker;
freek100 0:e4858e2df9c7 63 Ticker directionTicker;
freek100 1:08e8cc33fcae 64 Ticker encoderTicker;
freek100 4:e7d50c6a7c53 65 Ticker scopeTicker;
freek100 0:e4858e2df9c7 66
freek100 0:e4858e2df9c7 67 const float PWM_period = 1e-6;
freek100 0:e4858e2df9c7 68
freek100 0:e4858e2df9c7 69 volatile int counts; // Encoder counts
freek100 0:e4858e2df9c7 70 volatile int countsPrev = 0;
freek100 0:e4858e2df9c7 71 volatile int deltaCounts;
freek100 0:e4858e2df9c7 72
freek100 0:e4858e2df9c7 73 float factorin = 6.23185/64; // Convert encoder counts to angle in rad
freek100 0:e4858e2df9c7 74 float gearratio = 131.25; // Gear ratio of gearbox
freek100 0:e4858e2df9c7 75
freek100 2:d7286c36595f 76
freek100 2:d7286c36595f 77 float PID_controller(float e){
freek100 2:d7286c36595f 78 static float error_integral=0;
freek100 11:94a4dd7ed05c 79 //static float e_prev=e;
freek100 2:d7286c36595f 80
freek100 2:d7286c36595f 81 //Proportional part:
BasB 10:b871d1b05787 82 Kp=potmeter1.read();
freek100 2:d7286c36595f 83 u_k=Kp*e;
freek100 2:d7286c36595f 84
freek100 2:d7286c36595f 85 //Integral part
BasB 10:b871d1b05787 86 Ki=potmeter2.read();
freek100 11:94a4dd7ed05c 87 error_integral=error_integral+ei*Ts;
freek100 2:d7286c36595f 88 u_i=Ki*error_integral;
freek100 2:d7286c36595f 89
freek100 11:94a4dd7ed05c 90 // Sum and limit
freek100 11:94a4dd7ed05c 91 u2= u_k+u_i;
freek100 11:94a4dd7ed05c 92 if (u2>1){
freek100 11:94a4dd7ed05c 93 up=1;}
freek100 11:94a4dd7ed05c 94 else if (u2<-1){
freek100 11:94a4dd7ed05c 95 up=-1;}
freek100 11:94a4dd7ed05c 96 else {
freek100 11:94a4dd7ed05c 97 up=u2;}
freek100 11:94a4dd7ed05c 98
freek100 11:94a4dd7ed05c 99 // To prevent windup
freek100 11:94a4dd7ed05c 100 ux= u2-up;
freek100 11:94a4dd7ed05c 101 ek= Ka*ux;
freek100 11:94a4dd7ed05c 102 ei= e-ek;
freek100 11:94a4dd7ed05c 103 //Return
freek100 11:94a4dd7ed05c 104 return up;
freek100 2:d7286c36595f 105 }
freek100 2:d7286c36595f 106
freek100 4:e7d50c6a7c53 107
freek100 4:e7d50c6a7c53 108 void readEncoder()
freek100 4:e7d50c6a7c53 109 {
freek100 4:e7d50c6a7c53 110 counts = encoder.getPulses();
freek100 4:e7d50c6a7c53 111 deltaCounts = counts - countsPrev;
freek100 4:e7d50c6a7c53 112
freek100 4:e7d50c6a7c53 113 countsPrev = counts;
freek100 4:e7d50c6a7c53 114 }
BasB 9:08a7a8e59a6a 115
BasB 9:08a7a8e59a6a 116 void togglehoek(){
freek100 11:94a4dd7ed05c 117
freek100 12:23b94b5dcc60 118 refangle= 15*pi2+refangle;
freek100 11:94a4dd7ed05c 119 // static float t = 0;
freek100 11:94a4dd7ed05c 120 // refangle= pi2/3.0f*sin(5.0f*t)*motor1Toggle;
freek100 11:94a4dd7ed05c 121 //t+=0.01;
BasB 9:08a7a8e59a6a 122 }
BasB 9:08a7a8e59a6a 123
freek100 0:e4858e2df9c7 124 void motorControl()
freek100 0:e4858e2df9c7 125 {
freek100 11:94a4dd7ed05c 126 //togglehoek();
freek100 11:94a4dd7ed05c 127 button1.fall(&togglehoek);
freek100 1:08e8cc33fcae 128 angle = counts * factorin / gearratio; // Angle of motor shaft in rad
freek100 2:d7286c36595f 129 omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
freek100 6:1c0b6e55e900 130 potValue= potmeter1.read();
freek100 11:94a4dd7ed05c 131 //refangle= (potValue*2*pi2)-pi2;
freek100 11:94a4dd7ed05c 132 e=refangle-angle;
freek100 2:d7286c36595f 133
freek100 2:d7286c36595f 134 u2=PID_controller(e);
freek100 2:d7286c36595f 135
BasB 10:b871d1b05787 136 premotorpwm= fabs(u2);
BasB 10:b871d1b05787 137 if (premotorpwm>1.0){
BasB 10:b871d1b05787 138 motorpwm=1;}
BasB 10:b871d1b05787 139 else {
BasB 10:b871d1b05787 140 motorpwm=premotorpwm;}
freek100 1:08e8cc33fcae 141 if (u2<0){
freek100 0:e4858e2df9c7 142 motordir= 0;}
freek100 0:e4858e2df9c7 143 else {
freek100 0:e4858e2df9c7 144 motordir= 1;}
BasB 10:b871d1b05787 145 motor1Power.write(motorpwm);
freek100 0:e4858e2df9c7 146 motor1Direction= motordir;
freek100 0:e4858e2df9c7 147 }
freek100 0:e4858e2df9c7 148
BasB 10:b871d1b05787 149 void Plotje(){
freek100 11:94a4dd7ed05c 150 scope.set(0,refangle); //gewenste hoek
freek100 4:e7d50c6a7c53 151 scope.set(1,angle); //Gemeten hoek
freek100 4:e7d50c6a7c53 152 scope.set(2,e); //verschil in gewenste en gemeten hoek
freek100 1:08e8cc33fcae 153
freek100 4:e7d50c6a7c53 154 scope.send(); //send what's in scope memory to PC
freek100 1:08e8cc33fcae 155 }
freek100 0:e4858e2df9c7 156
freek100 5:17aa878564d0 157 void toggleMotor()
freek100 5:17aa878564d0 158 {
freek100 5:17aa878564d0 159 motor1Toggle = !motor1Toggle;
freek100 5:17aa878564d0 160 }
freek100 4:e7d50c6a7c53 161
freek100 0:e4858e2df9c7 162 int main()
freek100 0:e4858e2df9c7 163 {
freek100 0:e4858e2df9c7 164 pc.baud(115200);
freek100 0:e4858e2df9c7 165 pc.printf("\r\nStarting...\r\n\r\n");
freek100 0:e4858e2df9c7 166
freek100 0:e4858e2df9c7 167 motor1Power.period(PWM_period);
freek100 0:e4858e2df9c7 168 motorTicker.attach(motorControl, 0.01);
freek100 4:e7d50c6a7c53 169 scopeTicker.attach(Plotje, 0.01);
freek100 2:d7286c36595f 170 encoderTicker.attach(readEncoder, Ts);
freek100 5:17aa878564d0 171
freek100 5:17aa878564d0 172 button2.fall(&toggleMotor);
BasB 9:08a7a8e59a6a 173
freek100 0:e4858e2df9c7 174 while (true) {
freek100 0:e4858e2df9c7 175
freek100 7:20a802dfe664 176 //pc.printf("Potmeter: %d \r\n", potValue,);
freek100 7:20a802dfe664 177 //pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts);
freek100 1:08e8cc33fcae 178 pc.printf("Angle: %f Omega: %f\r\n", angle, omega);
freek100 11:94a4dd7ed05c 179 pc.printf("refangle: %f Error: %f \r\n",refangle, e);
BasB 10:b871d1b05787 180 pc.printf("Kp: %f Ki: %f \r\n", Kp, Ki);
freek100 6:1c0b6e55e900 181
freek100 0:e4858e2df9c7 182 wait(0.5);
freek100 0:e4858e2df9c7 183 }
freek100 0:e4858e2df9c7 184 }