Diff: Controller.cpp

Revision:

1:d9e840c48b1e

Parent:

0:a9fe4ef404bf

Child:

2:592f01278db4

--- a/Controller.cpp	Wed Mar 07 14:06:19 2018 +0000
+++ b/Controller.cpp	Sat Mar 31 16:45:57 2018 +0000
@@ -6,18 +6,23 @@
 const float Controller::COUNTS_PER_TURN = 1200.0f; // Encoder-Aufloesung
 const float Controller::LOWPASS_FILTER_FREQUENCY = 300.0f; // in [rad/s]
 const float Controller::KN = 40.0f; // Drehzahlkonstante in [rpm/V]
-const float Controller::KP = 0.02f; // Regler-Parameter
+const float Controller::KP = 0.25f; // KP Regler-Parameter
+const float Controller::KI = 4.0f; // KI Regler-Parameter
+const float Controller::I_MAX = 10000.0f; // KI Regler-Parameter Saettigung
 const float Controller::MAX_VOLTAGE = 12.0f; // Batteriespannung in [V]
 const float Controller::MIN_DUTY_CYCLE = 0.02f; // minimale Duty-Cycle
 const float Controller::MAX_DUTY_CYCLE = 0.98f; // maximale Duty-Cycle
 
+int ii =0;
+
 Controller::Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
-                        EncoderCounter& counterLeft, EncoderCounter& counterRight) :
-                        pwmLeft(pwmLeft), pwmRight(pwmRight),
-                        counterLeft(counterLeft), counterRight(counterRight) {
+                       EncoderCounter& counterLeft, EncoderCounter& counterRight) :
+    pwmLeft(pwmLeft), pwmRight(pwmRight),
+    counterLeft(counterLeft), counterRight(counterRight)
+{
 
     // Initialisieren der PWM Ausgaenge
-    
+
     pwmLeft.period(0.00005f); // PWM Periode von 50 us
     pwmLeft = 0.5f; // Duty-Cycle von 50%
     pwmRight.period(0.00005f); // PWM Periode von 50 us
@@ -60,10 +65,41 @@
     this->desiredSpeedRight = desiredSpeedRight;
 }
 
-void Controller::run() {
+float Controller::getSpeedLeft()
+{
+    return actualSpeedLeft;
+}
+
+float Controller::getSpeedRight()
+{
+    return actualSpeedRight;
+}
+
+float Controller::getIntegralLeft()
+{
+    return iSumLeft;
+}
+
+float Controller::getIntegralRight()
+{
+    return iSumRight;
+}
+
+float Controller::getProportionalLeft()
+{
+    return (desiredSpeedLeft-actualSpeedLeft);
+}
+
+float Controller::getProportionalRight()
+{
+    return (desiredSpeedRight-actualSpeedRight);
+}
+
+void Controller::run()
+{
 
     // Berechnen die effektiven Drehzahlen der Motoren in [rpm]
-    
+
     short valueCounterLeft = counterLeft.read();
     short valueCounterRight = counterRight.read();
 
@@ -78,22 +114,35 @@
     actualSpeedRight = speedRightFilter.filter((float)countsInPastPeriodRight
                        /COUNTS_PER_TURN/PERIOD*60.0f);
 
+
+    //Berechnung I - Anteil
+
+
+    iSumLeft += (desiredSpeedLeft-actualSpeedLeft);
+    if (iSumLeft > I_MAX) iSumLeft = I_MAX;  //Max Saettigung I - Anteil
+    if (iSumLeft < -I_MAX) iSumLeft = -I_MAX; //Min Saettigung I - Anteil
+
+    iSumRight += (desiredSpeedRight-actualSpeedRight);
+    if (iSumRight > I_MAX) iSumRight = I_MAX;  //Max Saettigung I - Anteil
+    if (iSumRight < -I_MAX) iSumRight = -I_MAX; //Min Saettigung I - Anteil
+
     // Berechnen der Motorspannungen Uout
-    
-    float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+desiredSpeedLeft/KN;
-    float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)
+
+    float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+KI*iSumLeft*PERIOD
+                        +desiredSpeedLeft/KN;
+    float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)+KI*iSumRight*PERIOD
                          +desiredSpeedRight/KN;
-                         
+
     // Berechnen, Limitieren und Setzen der Duty-Cycle
-    
+
     float dutyCycleLeft = 0.5f+0.5f*voltageLeft/MAX_VOLTAGE;
     if (dutyCycleLeft < MIN_DUTY_CYCLE) dutyCycleLeft = MIN_DUTY_CYCLE;
     else if (dutyCycleLeft > MAX_DUTY_CYCLE) dutyCycleLeft = MAX_DUTY_CYCLE;
     pwmLeft = dutyCycleLeft;
-    
+
     float dutyCycleRight = 0.5f+0.5f*voltageRight/MAX_VOLTAGE;
     if (dutyCycleRight < MIN_DUTY_CYCLE) dutyCycleRight = MIN_DUTY_CYCLE;
     else if (dutyCycleRight > MAX_DUTY_CYCLE) dutyCycleRight = MAX_DUTY_CYCLE;
     pwmRight = dutyCycleRight;
-    
+
 }
\ No newline at end of file