Motor control
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@7:20a802dfe664, 2019-10-11 (annotated)
- Committer:
- freek100
- Date:
- Fri Oct 11 13:02:43 2019 +0000
- Revision:
- 7:20a802dfe664
- Parent:
- 6:1c0b6e55e900
- Child:
- 8:c6c94d55b088
Tuning in progress, volgende stap is Kp en Kd op potmeters aansluiten
Who changed what in which revision?
User | Revision | Line number | New 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); |
freek100 | 6:1c0b6e55e900 | 11 | AnalogIn potmeter1(A0); |
freek100 | 6:1c0b6e55e900 | 12 | AnalogIn potmeter2(A1); |
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 | 5:17aa878564d0 | 28 | volatile int motor1Toggle = 1; |
freek100 | 5:17aa878564d0 | 29 | |
freek100 | 0:e4858e2df9c7 | 30 | //Motorcontrol |
freek100 | 0:e4858e2df9c7 | 31 | bool motordir; |
freek100 | 0:e4858e2df9c7 | 32 | double motorpwm; |
freek100 | 1:08e8cc33fcae | 33 | float u1; |
freek100 | 1:08e8cc33fcae | 34 | double u2; |
freek100 | 0:e4858e2df9c7 | 35 | double potValue; |
freek100 | 1:08e8cc33fcae | 36 | double pi2= 6.283185; |
freek100 | 2:d7286c36595f | 37 | float e; //e = error |
freek100 | 7:20a802dfe664 | 38 | float Kp=0.45; |
freek100 | 7:20a802dfe664 | 39 | float Ki=0; |
freek100 | 7:20a802dfe664 | 40 | float Kd; |
freek100 | 2:d7286c36595f | 41 | float u_k; |
freek100 | 2:d7286c36595f | 42 | float u_i; |
freek100 | 2:d7286c36595f | 43 | float u_d; |
freek100 | 3:07fedd2e252c | 44 | |
freek100 | 4:e7d50c6a7c53 | 45 | //Hidscope |
freek100 | 4:e7d50c6a7c53 | 46 | 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 | 47 | // PC connection |
freek100 | 0:e4858e2df9c7 | 48 | MODSERIAL pc(USBTX, USBRX); |
freek100 | 0:e4858e2df9c7 | 49 | |
freek100 | 0:e4858e2df9c7 | 50 | // Intializing tickers |
freek100 | 0:e4858e2df9c7 | 51 | Ticker motorTicker; |
freek100 | 0:e4858e2df9c7 | 52 | Ticker controlTicker; |
freek100 | 0:e4858e2df9c7 | 53 | Ticker directionTicker; |
freek100 | 1:08e8cc33fcae | 54 | Ticker encoderTicker; |
freek100 | 4:e7d50c6a7c53 | 55 | Ticker scopeTicker; |
freek100 | 0:e4858e2df9c7 | 56 | |
freek100 | 0:e4858e2df9c7 | 57 | const float PWM_period = 1e-6; |
freek100 | 0:e4858e2df9c7 | 58 | |
freek100 | 0:e4858e2df9c7 | 59 | volatile int counts; // Encoder counts |
freek100 | 0:e4858e2df9c7 | 60 | volatile int countsPrev = 0; |
freek100 | 0:e4858e2df9c7 | 61 | volatile int deltaCounts; |
freek100 | 0:e4858e2df9c7 | 62 | |
freek100 | 0:e4858e2df9c7 | 63 | float factorin = 6.23185/64; // Convert encoder counts to angle in rad |
freek100 | 0:e4858e2df9c7 | 64 | float gearratio = 131.25; // Gear ratio of gearbox |
freek100 | 0:e4858e2df9c7 | 65 | |
freek100 | 2:d7286c36595f | 66 | |
freek100 | 2:d7286c36595f | 67 | float PID_controller(float e){ |
freek100 | 2:d7286c36595f | 68 | static float error_integral=0; |
freek100 | 3:07fedd2e252c | 69 | static float e_prev=e; |
freek100 | 3:07fedd2e252c | 70 | static BiQuad LowPassFilter(0.0640,0.1279,0.0640,-1.1683,0.4241); |
freek100 | 2:d7286c36595f | 71 | |
freek100 | 2:d7286c36595f | 72 | //Proportional part: |
freek100 | 7:20a802dfe664 | 73 | Kd=0.5*potmeter2.read(); |
freek100 | 2:d7286c36595f | 74 | u_k=Kp*e; |
freek100 | 2:d7286c36595f | 75 | |
freek100 | 2:d7286c36595f | 76 | //Integral part |
freek100 | 2:d7286c36595f | 77 | error_integral=error_integral+e*Ts; |
freek100 | 2:d7286c36595f | 78 | u_i=Ki*error_integral; |
freek100 | 2:d7286c36595f | 79 | |
freek100 | 3:07fedd2e252c | 80 | //Derivative part |
freek100 | 3:07fedd2e252c | 81 | float error_derivative =(e-e_prev)/Ts; |
freek100 | 3:07fedd2e252c | 82 | float filtered_error_derivative = LowPassFilter.step(error_derivative); |
freek100 | 3:07fedd2e252c | 83 | u_d=Kd*filtered_error_derivative; |
freek100 | 3:07fedd2e252c | 84 | e_prev=e; |
freek100 | 3:07fedd2e252c | 85 | |
freek100 | 2:d7286c36595f | 86 | // Sum and return |
freek100 | 3:07fedd2e252c | 87 | return u_k+u_i+u_d; |
freek100 | 2:d7286c36595f | 88 | } |
freek100 | 2:d7286c36595f | 89 | |
freek100 | 4:e7d50c6a7c53 | 90 | |
freek100 | 4:e7d50c6a7c53 | 91 | void readEncoder() |
freek100 | 4:e7d50c6a7c53 | 92 | { |
freek100 | 4:e7d50c6a7c53 | 93 | counts = encoder.getPulses(); |
freek100 | 4:e7d50c6a7c53 | 94 | deltaCounts = counts - countsPrev; |
freek100 | 4:e7d50c6a7c53 | 95 | |
freek100 | 4:e7d50c6a7c53 | 96 | countsPrev = counts; |
freek100 | 4:e7d50c6a7c53 | 97 | } |
freek100 | 0:e4858e2df9c7 | 98 | void motorControl() |
freek100 | 0:e4858e2df9c7 | 99 | { |
freek100 | 1:08e8cc33fcae | 100 | angle = counts * factorin / gearratio; // Angle of motor shaft in rad |
freek100 | 2:d7286c36595f | 101 | omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
freek100 | 6:1c0b6e55e900 | 102 | potValue= potmeter1.read(); |
freek100 | 1:08e8cc33fcae | 103 | u1= (potValue*2*pi2)-pi2; |
freek100 | 2:d7286c36595f | 104 | e=u1-angle; |
freek100 | 2:d7286c36595f | 105 | |
freek100 | 2:d7286c36595f | 106 | u2=PID_controller(e); |
freek100 | 2:d7286c36595f | 107 | |
freek100 | 2:d7286c36595f | 108 | motorpwm= abs(u2); |
freek100 | 1:08e8cc33fcae | 109 | if (u2<0){ |
freek100 | 0:e4858e2df9c7 | 110 | motordir= 0;} |
freek100 | 0:e4858e2df9c7 | 111 | else { |
freek100 | 0:e4858e2df9c7 | 112 | motordir= 1;} |
freek100 | 5:17aa878564d0 | 113 | motor1Power.pulsewidth(motorpwm * PWM_period*motor1Toggle ); |
freek100 | 0:e4858e2df9c7 | 114 | motor1Direction= motordir; |
freek100 | 0:e4858e2df9c7 | 115 | } |
freek100 | 0:e4858e2df9c7 | 116 | |
freek100 | 4:e7d50c6a7c53 | 117 | void Plotje() |
freek100 | 1:08e8cc33fcae | 118 | { |
freek100 | 4:e7d50c6a7c53 | 119 | scope.set(0,u1); //gewenste hoek |
freek100 | 4:e7d50c6a7c53 | 120 | scope.set(1,angle); //Gemeten hoek |
freek100 | 4:e7d50c6a7c53 | 121 | scope.set(2,e); //verschil in gewenste en gemeten hoek |
freek100 | 1:08e8cc33fcae | 122 | |
freek100 | 4:e7d50c6a7c53 | 123 | scope.send(); //send what's in scope memory to PC |
freek100 | 1:08e8cc33fcae | 124 | } |
freek100 | 0:e4858e2df9c7 | 125 | |
freek100 | 5:17aa878564d0 | 126 | void toggleMotor() |
freek100 | 5:17aa878564d0 | 127 | { |
freek100 | 5:17aa878564d0 | 128 | motor1Toggle = !motor1Toggle; |
freek100 | 5:17aa878564d0 | 129 | } |
freek100 | 4:e7d50c6a7c53 | 130 | |
freek100 | 0:e4858e2df9c7 | 131 | int main() |
freek100 | 0:e4858e2df9c7 | 132 | { |
freek100 | 0:e4858e2df9c7 | 133 | pc.baud(115200); |
freek100 | 0:e4858e2df9c7 | 134 | pc.printf("\r\nStarting...\r\n\r\n"); |
freek100 | 0:e4858e2df9c7 | 135 | |
freek100 | 0:e4858e2df9c7 | 136 | motor1Power.period(PWM_period); |
freek100 | 0:e4858e2df9c7 | 137 | motorTicker.attach(motorControl, 0.01); |
freek100 | 4:e7d50c6a7c53 | 138 | scopeTicker.attach(Plotje, 0.01); |
freek100 | 2:d7286c36595f | 139 | encoderTicker.attach(readEncoder, Ts); |
freek100 | 5:17aa878564d0 | 140 | |
freek100 | 5:17aa878564d0 | 141 | button2.fall(&toggleMotor); |
freek100 | 0:e4858e2df9c7 | 142 | while (true) { |
freek100 | 0:e4858e2df9c7 | 143 | |
freek100 | 7:20a802dfe664 | 144 | //pc.printf("Potmeter: %d \r\n", potValue,); |
freek100 | 7:20a802dfe664 | 145 | //pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts); |
freek100 | 1:08e8cc33fcae | 146 | pc.printf("Angle: %f Omega: %f\r\n", angle, omega); |
freek100 | 2:d7286c36595f | 147 | pc.printf("U1: %f Error: %f \r\n",u1, e); |
freek100 | 7:20a802dfe664 | 148 | pc.printf("Kp: %f Kd: %f Ki: %f \r\n", Kp, Kd, Ki); |
freek100 | 6:1c0b6e55e900 | 149 | |
freek100 | 0:e4858e2df9c7 | 150 | wait(0.5); |
freek100 | 0:e4858e2df9c7 | 151 | } |
freek100 | 0:e4858e2df9c7 | 152 | } |