Motor control
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@15:fb0bbce41a0f, 2019-10-21 (annotated)
- Committer:
- BasB
- Date:
- Mon Oct 21 10:05:12 2019 +0000
- Revision:
- 15:fb0bbce41a0f
- Parent:
- 14:0afc46ad1b99
- Child:
- 16:e51ddfaf2e7a
Beide motoren werkend met PI control
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); |
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 |
BasB | 15:fb0bbce41a0f | 18 | DigitalIn encA1(D9); |
BasB | 15:fb0bbce41a0f | 19 | DigitalIn encB1(D8); |
BasB | 15:fb0bbce41a0f | 20 | DigitalIn encA2(D13); |
BasB | 15:fb0bbce41a0f | 21 | DigitalIn encB2(D13); |
BasB | 15:fb0bbce41a0f | 22 | QEI encoder1(D9,D8,NC,64,QEI::X4_ENCODING); |
BasB | 15:fb0bbce41a0f | 23 | QEI encoder2(D13,D12,NC,64,QEI::X4_ENCODING); |
freek100 | 2:d7286c36595f | 24 | float Ts = 0.01; |
BasB | 13:048458947701 | 25 | float motor1angle; |
BasB | 14:0afc46ad1b99 | 26 | float motor2angle; |
BasB | 13:048458947701 | 27 | float omega1; |
BasB | 14:0afc46ad1b99 | 28 | float omega2; |
freek100 | 1:08e8cc33fcae | 29 | |
freek100 | 0:e4858e2df9c7 | 30 | |
freek100 | 0:e4858e2df9c7 | 31 | // Motor |
freek100 | 0:e4858e2df9c7 | 32 | DigitalOut motor2Direction(D4); |
freek100 | 0:e4858e2df9c7 | 33 | FastPWM motor2Power(D5); |
freek100 | 0:e4858e2df9c7 | 34 | DigitalOut motor1Direction(D7); |
freek100 | 0:e4858e2df9c7 | 35 | FastPWM motor1Power(D6); |
freek100 | 0:e4858e2df9c7 | 36 | |
freek100 | 5:17aa878564d0 | 37 | volatile int motor1Toggle = 1; |
freek100 | 5:17aa878564d0 | 38 | |
freek100 | 0:e4858e2df9c7 | 39 | //Motorcontrol |
BasB | 13:048458947701 | 40 | bool motordir1; |
BasB | 14:0afc46ad1b99 | 41 | bool motordir2; |
BasB | 13:048458947701 | 42 | float motor1ref= 0; |
BasB | 14:0afc46ad1b99 | 43 | float motor2ref=0; |
BasB | 13:048458947701 | 44 | double controlsignal1; |
BasB | 14:0afc46ad1b99 | 45 | double controlsignal2; |
freek100 | 1:08e8cc33fcae | 46 | double pi2= 6.283185; |
BasB | 13:048458947701 | 47 | float motor1error; //e = error |
BasB | 14:0afc46ad1b99 | 48 | float motor2error; |
BasB | 13:048458947701 | 49 | float Kp=0.27; |
BasB | 13:048458947701 | 50 | float Ki=0.35; |
BasB | 13:048458947701 | 51 | float u_p1; |
BasB | 14:0afc46ad1b99 | 52 | float u_p2; |
BasB | 13:048458947701 | 53 | float u_i1; |
BasB | 14:0afc46ad1b99 | 54 | float u_i2; |
freek100 | 3:07fedd2e252c | 55 | |
freek100 | 11:94a4dd7ed05c | 56 | //Windup control |
BasB | 13:048458947701 | 57 | float ux1; |
BasB | 14:0afc46ad1b99 | 58 | float ux2; |
BasB | 13:048458947701 | 59 | float up1; |
BasB | 14:0afc46ad1b99 | 60 | float up2; |
BasB | 13:048458947701 | 61 | float ek1; |
BasB | 14:0afc46ad1b99 | 62 | float ek2; |
BasB | 13:048458947701 | 63 | float ei1= 0; |
BasB | 14:0afc46ad1b99 | 64 | float ei2=0; |
freek100 | 11:94a4dd7ed05c | 65 | float Ka= 1; |
freek100 | 11:94a4dd7ed05c | 66 | |
freek100 | 4:e7d50c6a7c53 | 67 | //Hidscope |
freek100 | 4:e7d50c6a7c53 | 68 | HIDScope scope(3); //Going to send 3 channels of data. To access data go to 'http:/localhost:18082/' after starting HIDScope application. |
BasB | 14:0afc46ad1b99 | 69 | |
freek100 | 0:e4858e2df9c7 | 70 | // PC connection |
freek100 | 0:e4858e2df9c7 | 71 | MODSERIAL pc(USBTX, USBRX); |
freek100 | 0:e4858e2df9c7 | 72 | |
freek100 | 0:e4858e2df9c7 | 73 | // Intializing tickers |
freek100 | 0:e4858e2df9c7 | 74 | Ticker motorTicker; |
freek100 | 0:e4858e2df9c7 | 75 | Ticker controlTicker; |
freek100 | 0:e4858e2df9c7 | 76 | Ticker directionTicker; |
freek100 | 1:08e8cc33fcae | 77 | Ticker encoderTicker; |
freek100 | 4:e7d50c6a7c53 | 78 | Ticker scopeTicker; |
freek100 | 0:e4858e2df9c7 | 79 | |
freek100 | 0:e4858e2df9c7 | 80 | const float PWM_period = 1e-6; |
freek100 | 0:e4858e2df9c7 | 81 | |
BasB | 13:048458947701 | 82 | volatile int counts1; // Encoder counts |
BasB | 14:0afc46ad1b99 | 83 | volatile int counts2; |
BasB | 13:048458947701 | 84 | volatile int countsPrev1 = 0; |
BasB | 14:0afc46ad1b99 | 85 | volatile int countsPrev2 = 0; |
BasB | 13:048458947701 | 86 | volatile int deltaCounts1; |
BasB | 14:0afc46ad1b99 | 87 | volatile int deltaCounts2; |
freek100 | 0:e4858e2df9c7 | 88 | |
freek100 | 0:e4858e2df9c7 | 89 | float factorin = 6.23185/64; // Convert encoder counts to angle in rad |
freek100 | 0:e4858e2df9c7 | 90 | float gearratio = 131.25; // Gear ratio of gearbox |
freek100 | 0:e4858e2df9c7 | 91 | |
freek100 | 2:d7286c36595f | 92 | |
BasB | 13:048458947701 | 93 | float PID_controller1(float motor1error){ |
BasB | 13:048458947701 | 94 | static float error_integral1=0; |
freek100 | 11:94a4dd7ed05c | 95 | //static float e_prev=e; |
freek100 | 2:d7286c36595f | 96 | |
freek100 | 2:d7286c36595f | 97 | //Proportional part: |
BasB | 13:048458947701 | 98 | u_p1=Kp*motor1error; |
freek100 | 2:d7286c36595f | 99 | |
freek100 | 2:d7286c36595f | 100 | //Integral part |
BasB | 13:048458947701 | 101 | error_integral1=error_integral1+ei1*Ts; |
BasB | 13:048458947701 | 102 | u_i1=Ki*error_integral1; |
freek100 | 2:d7286c36595f | 103 | |
freek100 | 11:94a4dd7ed05c | 104 | // Sum and limit |
BasB | 13:048458947701 | 105 | up1= u_p1+u_i1; |
BasB | 13:048458947701 | 106 | if (up1>1){ |
BasB | 13:048458947701 | 107 | controlsignal1=1;} |
BasB | 13:048458947701 | 108 | else if (up1<-1){ |
BasB | 13:048458947701 | 109 | controlsignal1=-1;} |
freek100 | 11:94a4dd7ed05c | 110 | else { |
BasB | 13:048458947701 | 111 | controlsignal1=up1;} |
freek100 | 11:94a4dd7ed05c | 112 | |
freek100 | 11:94a4dd7ed05c | 113 | // To prevent windup |
BasB | 13:048458947701 | 114 | ux1= up1-controlsignal1; |
BasB | 13:048458947701 | 115 | ek1= Ka*ux1; |
BasB | 13:048458947701 | 116 | ei1= motor1error-ek1; |
freek100 | 11:94a4dd7ed05c | 117 | //Return |
BasB | 13:048458947701 | 118 | return controlsignal1; |
freek100 | 2:d7286c36595f | 119 | } |
freek100 | 2:d7286c36595f | 120 | |
BasB | 14:0afc46ad1b99 | 121 | float PID_controller2(float motor2error){ |
BasB | 14:0afc46ad1b99 | 122 | static float error_integral2=0; |
BasB | 14:0afc46ad1b99 | 123 | |
BasB | 14:0afc46ad1b99 | 124 | //Proportional part: |
BasB | 14:0afc46ad1b99 | 125 | u_p2=Kp*motor2error; |
BasB | 14:0afc46ad1b99 | 126 | |
BasB | 14:0afc46ad1b99 | 127 | //Integral part |
BasB | 14:0afc46ad1b99 | 128 | error_integral2=error_integral2+ei2*Ts; |
BasB | 14:0afc46ad1b99 | 129 | u_i2=Ki*error_integral2; |
BasB | 14:0afc46ad1b99 | 130 | |
BasB | 14:0afc46ad1b99 | 131 | // Sum and limit |
BasB | 14:0afc46ad1b99 | 132 | up2= u_p2+u_i2; |
BasB | 14:0afc46ad1b99 | 133 | if (up2>1){ |
BasB | 14:0afc46ad1b99 | 134 | controlsignal2=1;} |
BasB | 14:0afc46ad1b99 | 135 | else if (up2<-1){ |
BasB | 14:0afc46ad1b99 | 136 | controlsignal2=-1;} |
BasB | 14:0afc46ad1b99 | 137 | else { |
BasB | 14:0afc46ad1b99 | 138 | controlsignal2=up2;} |
BasB | 14:0afc46ad1b99 | 139 | |
BasB | 14:0afc46ad1b99 | 140 | // To prevent windup |
BasB | 14:0afc46ad1b99 | 141 | ux2= up2-controlsignal2; |
BasB | 14:0afc46ad1b99 | 142 | ek2= Ka*ux2; |
BasB | 14:0afc46ad1b99 | 143 | ei2= motor2error-ek2; |
BasB | 14:0afc46ad1b99 | 144 | //Return |
BasB | 14:0afc46ad1b99 | 145 | return controlsignal2; |
BasB | 14:0afc46ad1b99 | 146 | } |
BasB | 14:0afc46ad1b99 | 147 | |
freek100 | 4:e7d50c6a7c53 | 148 | |
freek100 | 4:e7d50c6a7c53 | 149 | void readEncoder() |
freek100 | 4:e7d50c6a7c53 | 150 | { |
BasB | 14:0afc46ad1b99 | 151 | counts1 = encoder1.getPulses(); |
BasB | 13:048458947701 | 152 | deltaCounts1 = counts1 - countsPrev1; |
BasB | 13:048458947701 | 153 | countsPrev1 = counts1; |
BasB | 14:0afc46ad1b99 | 154 | |
BasB | 14:0afc46ad1b99 | 155 | counts2 = encoder2.getPulses(); |
BasB | 14:0afc46ad1b99 | 156 | deltaCounts2 = counts2 - countsPrev2; |
BasB | 14:0afc46ad1b99 | 157 | countsPrev2 = counts2; |
freek100 | 4:e7d50c6a7c53 | 158 | } |
BasB | 9:08a7a8e59a6a | 159 | |
BasB | 9:08a7a8e59a6a | 160 | void togglehoek(){ |
freek100 | 11:94a4dd7ed05c | 161 | |
BasB | 13:048458947701 | 162 | motor1ref= 0.5*pi2+motor1ref; |
BasB | 14:0afc46ad1b99 | 163 | motor2ref= 0.5*pi2+motor2ref; |
freek100 | 11:94a4dd7ed05c | 164 | // static float t = 0; |
freek100 | 11:94a4dd7ed05c | 165 | // refangle= pi2/3.0f*sin(5.0f*t)*motor1Toggle; |
freek100 | 11:94a4dd7ed05c | 166 | //t+=0.01; |
BasB | 9:08a7a8e59a6a | 167 | } |
BasB | 9:08a7a8e59a6a | 168 | |
freek100 | 0:e4858e2df9c7 | 169 | void motorControl() |
freek100 | 0:e4858e2df9c7 | 170 | { |
freek100 | 11:94a4dd7ed05c | 171 | button1.fall(&togglehoek); |
BasB | 14:0afc46ad1b99 | 172 | |
BasB | 13:048458947701 | 173 | motor1angle = counts1 * factorin / gearratio; // Angle of motor shaft in rad |
BasB | 13:048458947701 | 174 | omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
BasB | 14:0afc46ad1b99 | 175 | motor1error=motor1ref-motor1angle; |
BasB | 14:0afc46ad1b99 | 176 | controlsignal1=PID_controller1(motor1error); |
BasB | 13:048458947701 | 177 | if (controlsignal1<0){ |
BasB | 13:048458947701 | 178 | motordir1= 0;} |
BasB | 10:b871d1b05787 | 179 | else { |
BasB | 13:048458947701 | 180 | motordir1= 1;} |
BasB | 13:048458947701 | 181 | motor1Power.write(abs(controlsignal1)); |
BasB | 13:048458947701 | 182 | motor1Direction= motordir1; |
BasB | 14:0afc46ad1b99 | 183 | |
BasB | 14:0afc46ad1b99 | 184 | motor2angle = counts2 * factorin / gearratio; // Angle of motor shaft in rad |
BasB | 14:0afc46ad1b99 | 185 | omega2 = deltaCounts2 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
BasB | 14:0afc46ad1b99 | 186 | motor2error=motor2ref-motor2angle; |
BasB | 14:0afc46ad1b99 | 187 | controlsignal2=PID_controller2(motor2error); |
BasB | 14:0afc46ad1b99 | 188 | if (controlsignal2<0){ |
BasB | 14:0afc46ad1b99 | 189 | motordir2= 0;} |
BasB | 14:0afc46ad1b99 | 190 | else { |
BasB | 14:0afc46ad1b99 | 191 | motordir2= 1;} |
BasB | 14:0afc46ad1b99 | 192 | motor2Power.write(abs(controlsignal2)); |
BasB | 14:0afc46ad1b99 | 193 | motor2Direction= motordir2; |
freek100 | 0:e4858e2df9c7 | 194 | } |
freek100 | 0:e4858e2df9c7 | 195 | |
BasB | 10:b871d1b05787 | 196 | void Plotje(){ |
BasB | 13:048458947701 | 197 | scope.set(0,motor1ref); //gewenste hoek |
BasB | 13:048458947701 | 198 | scope.set(1,motor1angle); //Gemeten hoek |
BasB | 13:048458947701 | 199 | scope.set(2,motor1error); //verschil in gewenste en gemeten hoek |
freek100 | 1:08e8cc33fcae | 200 | |
freek100 | 4:e7d50c6a7c53 | 201 | scope.send(); //send what's in scope memory to PC |
freek100 | 1:08e8cc33fcae | 202 | } |
freek100 | 0:e4858e2df9c7 | 203 | |
freek100 | 5:17aa878564d0 | 204 | void toggleMotor() |
freek100 | 5:17aa878564d0 | 205 | { |
freek100 | 5:17aa878564d0 | 206 | motor1Toggle = !motor1Toggle; |
freek100 | 5:17aa878564d0 | 207 | } |
freek100 | 4:e7d50c6a7c53 | 208 | |
freek100 | 0:e4858e2df9c7 | 209 | int main() |
freek100 | 0:e4858e2df9c7 | 210 | { |
freek100 | 0:e4858e2df9c7 | 211 | pc.baud(115200); |
freek100 | 0:e4858e2df9c7 | 212 | pc.printf("\r\nStarting...\r\n\r\n"); |
freek100 | 0:e4858e2df9c7 | 213 | |
freek100 | 0:e4858e2df9c7 | 214 | motor1Power.period(PWM_period); |
BasB | 14:0afc46ad1b99 | 215 | motor2Power.period(PWM_period); |
freek100 | 0:e4858e2df9c7 | 216 | motorTicker.attach(motorControl, 0.01); |
freek100 | 4:e7d50c6a7c53 | 217 | scopeTicker.attach(Plotje, 0.01); |
freek100 | 2:d7286c36595f | 218 | encoderTicker.attach(readEncoder, Ts); |
freek100 | 5:17aa878564d0 | 219 | |
freek100 | 5:17aa878564d0 | 220 | button2.fall(&toggleMotor); |
BasB | 9:08a7a8e59a6a | 221 | |
freek100 | 0:e4858e2df9c7 | 222 | while (true) { |
BasB | 14:0afc46ad1b99 | 223 | pc.printf("Angle1: %f Omega1: %f\r\n", motor1angle, omega1); |
BasB | 14:0afc46ad1b99 | 224 | pc.printf("refangle1: %f Error1: %f \r\n",motor1ref, motor1error); |
BasB | 14:0afc46ad1b99 | 225 | pc.printf("Angle2: %f Omega2: %f\r\n", motor2angle, omega2); |
BasB | 14:0afc46ad1b99 | 226 | pc.printf("refangle2: %f Error2: %f \r\n",motor2ref, motor2error); |
BasB | 15:fb0bbce41a0f | 227 | pc.printf("controlsignal2: %d \r\n", controlsignal2); |
freek100 | 6:1c0b6e55e900 | 228 | |
freek100 | 0:e4858e2df9c7 | 229 | wait(0.5); |
freek100 | 0:e4858e2df9c7 | 230 | } |
freek100 | 0:e4858e2df9c7 | 231 | } |