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Motor control
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- BasB
- Date:
- 2019-10-21
- Revision:
- 14:0afc46ad1b99
- Parent:
- 13:048458947701
- Child:
- 15:fb0bbce41a0f
File content as of revision 14:0afc46ad1b99:
#include "mbed.h" #include "HIDScope.h" #include "QEI.h" #include "MODSERIAL.h" #include "BiQuad.h" #include "FastPWM.h" // Button and potmeter1 control InterruptIn button1(D11); InterruptIn button2(D10); InterruptIn buttonsw2(SW2); InterruptIn buttonsw3(SW3); AnalogIn potmeter1(A0); AnalogIn potmeter2(A1); AnalogIn potmeter3(A2); AnalogIn potmeter4(A3); // Encoder DigitalIn encA1(D13); DigitalIn encB1(D12); DigitalIn encA2(D9); DigitalIn encB2(D8); QEI encoder1(D13,D12,NC,64,QEI::X4_ENCODING); QEI encoder2(D9,D8,NC,64,QEI::X4_ENCODING); float Ts = 0.01; float motor1angle; float motor2angle; float omega1; float omega2; // Motor DigitalOut motor2Direction(D4); FastPWM motor2Power(D5); DigitalOut motor1Direction(D7); FastPWM motor1Power(D6); volatile int motor1Toggle = 1; //Motorcontrol bool motordir1; bool motordir2; float motor1ref= 0; float motor2ref=0; double controlsignal1; double controlsignal2; double pi2= 6.283185; float motor1error; //e = error float motor2error; float Kp=0.27; float Ki=0.35; float u_p1; float u_p2; float u_i1; float u_i2; //Windup control float ux1; float ux2; float up1; float up2; float ek1; float ek2; float ei1= 0; float ei2=0; float Ka= 1; //Hidscope HIDScope scope(3); //Going to send 3 channels of data. To access data go to 'http:/localhost:18082/' after starting HIDScope application. // PC connection MODSERIAL pc(USBTX, USBRX); // Intializing tickers Ticker motorTicker; Ticker controlTicker; Ticker directionTicker; Ticker encoderTicker; Ticker scopeTicker; const float PWM_period = 1e-6; volatile int counts1; // Encoder counts volatile int counts2; volatile int countsPrev1 = 0; volatile int countsPrev2 = 0; volatile int deltaCounts1; volatile int deltaCounts2; float factorin = 6.23185/64; // Convert encoder counts to angle in rad float gearratio = 131.25; // Gear ratio of gearbox float PID_controller1(float motor1error){ static float error_integral1=0; //static float e_prev=e; //Proportional part: u_p1=Kp*motor1error; //Integral part error_integral1=error_integral1+ei1*Ts; u_i1=Ki*error_integral1; // Sum and limit up1= u_p1+u_i1; if (up1>1){ controlsignal1=1;} else if (up1<-1){ controlsignal1=-1;} else { controlsignal1=up1;} // To prevent windup ux1= up1-controlsignal1; ek1= Ka*ux1; ei1= motor1error-ek1; //Return return controlsignal1; } float PID_controller2(float motor2error){ static float error_integral2=0; //Proportional part: u_p2=Kp*motor2error; //Integral part error_integral2=error_integral2+ei2*Ts; u_i2=Ki*error_integral2; // Sum and limit up2= u_p2+u_i2; if (up2>1){ controlsignal2=1;} else if (up2<-1){ controlsignal2=-1;} else { controlsignal2=up2;} // To prevent windup ux2= up2-controlsignal2; ek2= Ka*ux2; ei2= motor2error-ek2; //Return return controlsignal2; } void readEncoder() { counts1 = encoder1.getPulses(); deltaCounts1 = counts1 - countsPrev1; countsPrev1 = counts1; counts2 = encoder2.getPulses(); deltaCounts2 = counts2 - countsPrev2; countsPrev2 = counts2; } void togglehoek(){ motor1ref= 0.5*pi2+motor1ref; motor2ref= 0.5*pi2+motor2ref; // static float t = 0; // refangle= pi2/3.0f*sin(5.0f*t)*motor1Toggle; //t+=0.01; } void motorControl() { button1.fall(&togglehoek); motor1angle = counts1 * factorin / gearratio; // Angle of motor shaft in rad omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s motor1error=motor1ref-motor1angle; controlsignal1=PID_controller1(motor1error); if (controlsignal1<0){ motordir1= 0;} else { motordir1= 1;} motor1Power.write(abs(controlsignal1)); motor1Direction= motordir1; motor2angle = counts2 * factorin / gearratio; // Angle of motor shaft in rad omega2 = deltaCounts2 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s motor2error=motor2ref-motor2angle; controlsignal2=PID_controller2(motor2error); if (controlsignal2<0){ motordir2= 0;} else { motordir2= 1;} motor2Power.write(abs(controlsignal2)); motor2Direction= motordir2; } void Plotje(){ scope.set(0,motor1ref); //gewenste hoek scope.set(1,motor1angle); //Gemeten hoek scope.set(2,motor1error); //verschil in gewenste en gemeten hoek scope.send(); //send what's in scope memory to PC } void toggleMotor() { motor1Toggle = !motor1Toggle; } int main() { pc.baud(115200); pc.printf("\r\nStarting...\r\n\r\n"); motor1Power.period(PWM_period); motor2Power.period(PWM_period); motorTicker.attach(motorControl, 0.01); scopeTicker.attach(Plotje, 0.01); encoderTicker.attach(readEncoder, Ts); button2.fall(&toggleMotor); while (true) { pc.printf("Angle1: %f Omega1: %f\r\n", motor1angle, omega1); pc.printf("refangle1: %f Error1: %f \r\n",motor1ref, motor1error); pc.printf("Angle2: %f Omega2: %f\r\n", motor2angle, omega2); pc.printf("refangle2: %f Error2: %f \r\n",motor2ref, motor2error); pc.printf("counts2: %f delta2: %f \r\n", counts2, deltaCounts2); wait(0.5); } }