RT2_Cuboid_demo / Mbed 2 deprecated nucf446-cuboid-balance1_strong

Cuboid

Dependencies:   mbed

main.cpp@15:ed33be6f040e, 2018-04-09 (annotated)

Committer:
pmic
Date:
Mon Apr 09 08:02:04 2018 +0000
Revision:
15:ed33be6f040e
Parent:
13:a308f5e6c306
Child:
17:802aede7b90e
clean code in main and set  parameters so that the system perfomes a gpa measurement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rtlabor 0:15be70d21d7c 1 #include "mbed.h"
rtlabor 0:15be70d21d7c 2 #include "math.h"
pmic 5:d6c7ccbbce78 3 #define pi 3.1415927f
pmic 5:d6c7ccbbce78 4
rtlabor 0:15be70d21d7c 5 #include "EncoderCounter.h"
rtlabor 0:15be70d21d7c 6 #include "DiffCounter.h"
rtlabor 0:15be70d21d7c 7 #include "PI_Cntrl.h"
rtlabor 0:15be70d21d7c 8 #include "IIR_filter.h"
rtlabor 0:15be70d21d7c 9 #include "LinearCharacteristics.h"
pmic 10:a28f393c6716 10 #include "GPA.h"
pmic 5:d6c7ccbbce78 11
rtlabor 0:15be70d21d7c 12 /* Cuboid balance on one edge on Nucleo F446RE
pmic 5:d6c7ccbbce78 13 // -----------------------------------------------------------------------------
altb 3:a951d699878b 14
pmic 5:d6c7ccbbce78 15 IMPORTANT: use ..\T-RT\Messen_Ausstellungen\Praesentationen_im_Labor\Wuerfel_nucleo\Escon_Parameter_4nucleo_stark.edc
pmic 5:d6c7ccbbce78 16 settings for Maxon ESCON controller (upload via ESCON Studio)
pmic 5:d6c7ccbbce78 17
rtlabor 0:15be70d21d7c 18 hardware Connections:
pmic 5:d6c7ccbbce78 19
rtlabor 0:15be70d21d7c 20 CN7 CN10
altb 3:a951d699878b 21 : :
altb 3:a951d699878b 22 : :
altb 3:a951d699878b 23 .. ..
altb 3:a951d699878b 24 .. .. 15.
altb 3:a951d699878b 25 .. AOUT i_des on (PA_5)o.
altb 3:a951d699878b 26 .. ..
altb 3:a951d699878b 27 .. ..
altb 3:a951d699878b 28 .. ENC CH A o.
altb 3:a951d699878b 29 o. GND .. 10.
altb 3:a951d699878b 30 o. ENC CH B ..
altb 3:a951d699878b 31 .. ..
altb 3:a951d699878b 32 .. ..
pmic 5:d6c7ccbbce78 33 .o AIN acx (PA_0) ..
altb 3:a951d699878b 34 .o AIN acy (PA_1) .. 5.
altb 3:a951d699878b 35 .o AIN Gyro(PA_4) .o Analog GND
altb 3:a951d699878b 36 .. ..
pmic 5:d6c7ccbbce78 37 .. ..
pmic 5:d6c7ccbbce78 38 .. .. 1.
altb 3:a951d699878b 39 ----------------------------
rtlabor 0:15be70d21d7c 40 CN7 CN10
rtlabor 0:15be70d21d7c 41 */
pmic 5:d6c7ccbbce78 42
pmic 5:d6c7ccbbce78 43 Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer
pmic 5:d6c7ccbbce78 44 InterruptIn Button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed
pmic 5:d6c7ccbbce78 45 AnalogIn ax(PA_0); // analog IN (acc x) on PA_0
pmic 5:d6c7ccbbce78 46 AnalogIn ay(PA_1); // analog IN (acc y) on PA_1
pmic 5:d6c7ccbbce78 47 AnalogIn gz(PA_4); // analog IN (gyr z) on PB_0
pmic 5:d6c7ccbbce78 48 AnalogOut out(PA_5); // analog OUT 1.6 V -> 0A 3.2A -> 2A (see ESCON)
pmic 5:d6c7ccbbce78 49 Ticker ControllerLoopTimer; // interrupt for control loop
pmic 5:d6c7ccbbce78 50 Timer t; // timer to analyse Button
pmic 5:d6c7ccbbce78 51
pmic 5:d6c7ccbbce78 52 // controller parameters etc.
pmic 15:ed33be6f040e 53 float Ts = 0.0025f; // sample time
pmic 15:ed33be6f040e 54 float v_max = 200.0f; // maximum speed rad/s
pmic 15:ed33be6f040e 55 float n_soll = 15.0f; // nominal speed for speed control tests
pmic 15:ed33be6f040e 56 float tau = 1.00f; // time constant of complementary filter
pmic 5:d6c7ccbbce78 57
pmic 5:d6c7ccbbce78 58 // output and statemachine
pmic 5:d6c7ccbbce78 59 unsigned int k = 0; // counter for serial output
pmic 5:d6c7ccbbce78 60 bool doesStand = 0; // state if the cube is standing or not
pmic 5:d6c7ccbbce78 61 bool shouldBalance = 0; // state if the controller is active
pmic 13:a308f5e6c306 62 bool shouldGoDown = 0; // state if the controller should swing down
pmic 5:d6c7ccbbce78 63
pmic 5:d6c7ccbbce78 64 // set up encoder
pmic 15:ed33be6f040e 65 EncoderCounter MotorEncoder(PB_6, PB_7); // initialize counter on PB_6 and PB_7
pmic 8:d68e177e2571 66 DiffCounter MotorDiff(1/(2.0f*pi*80.0f), Ts); // discrete differentiate, based on encoder data
pmic 5:d6c7ccbbce78 67
pmic 15:ed33be6f040e 68 // set up controllers
pmic 15:ed33be6f040e 69 float maxCurrent = 15.0f; // 1/0.217 A/Nm -> 2.0/0.217 = 13.82 A
pmic 15:ed33be6f040e 70 float Km = 1/0.217f; // Motorgain: Torque -> km -> Current in A/Nm
pmic 8:d68e177e2571 71 float maxTorque = maxCurrent/Km;
pmic 12:6287235b2570 72 PI_Cntrl pi_w2zero(-.012f, 0.8f, Ts, maxTorque); // controller to bring motor speed to zero while balancing
pmic 15:ed33be6f040e 73 PI_Cntrl pi_w(0.6f, 0.4f, Ts, maxTorque); // PI controller for test purposes motor speed (no balance)
pmic 10:a28f393c6716 74 float desTorque = 0.0f;
pmic 10:a28f393c6716 75
pmic 15:ed33be6f040e 76 // set up gpa
pmic 10:a28f393c6716 77 float fMin = 1.0f;
pmic 10:a28f393c6716 78 float fMax = 1.0f/2.0f/Ts*0.9f;
pmic 10:a28f393c6716 79 int NfexcDes = 150;
pmic 10:a28f393c6716 80 float Aexc0 = 5.0f;
pmic 10:a28f393c6716 81 float Aexc1 = 0.3f; //Aexc0/fMax;
pmic 10:a28f393c6716 82 int NperMin = 3;
pmic 10:a28f393c6716 83 float TmeasMin = 1.0f;
pmic 10:a28f393c6716 84 int NmeasMin = (int)ceil(TmeasMin/Ts);
pmic 10:a28f393c6716 85 GPA Wobble(fMin, fMax, NfexcDes, NperMin, NmeasMin, Ts, Aexc0, Aexc1);
pmic 11:ed2638662dfa 86 float inpWobble = 0.0f;
pmic 11:ed2638662dfa 87 float outWobble = 0.0f;
pmic 11:ed2638662dfa 88 float excWobble = 0.0f;
pmic 5:d6c7ccbbce78 89
pmic 15:ed33be6f040e 90 // set up filters for complementary filter
pmic 13:a308f5e6c306 91 IIR_filter FilterACCx(tau, Ts, 1.0f); // 1st order LP for complementary filter acc_x
pmic 13:a308f5e6c306 92 IIR_filter FilterACCy(tau, Ts, 1.0f); // 1st order LP for complementary filter acc_y
pmic 5:d6c7ccbbce78 93 IIR_filter FilterGYRZ(tau, Ts, tau); // 1st order LP for complementary filter gyro
pmic 5:d6c7ccbbce78 94
pmic 15:ed33be6f040e 95 // set up filter for swing down process
pmic 13:a308f5e6c306 96 IIR_filter FilterTrajectory(10.0f, 1.0f, Ts, 1.0f);
pmic 13:a308f5e6c306 97 float V = -2.6080f;
pmic 13:a308f5e6c306 98
pmic 5:d6c7ccbbce78 99 // linear characteristics
pmic 8:d68e177e2571 100 LinearCharacteristics i2u(0.1067f, -15.0f); // full range, convert desired current (Amps) -> voltage 0..3.3V
pmic 8:d68e177e2571 101 LinearCharacteristics u2n(312.5f, 1.6f); // convert input voltage (0..3.3V) -> speed (1/min)
pmic 8:d68e177e2571 102 LinearCharacteristics u2w(32.725, 1.6f); // convert input voltage (0..3.3V) -> speed (rad/sec)
pmic 8:d68e177e2571 103 LinearCharacteristics u2ax(14.67f, 1.6378f); // convert input voltage (0..3.3V) -> acc_x m/s^2
pmic 8:d68e177e2571 104 LinearCharacteristics u2ay(15.02f, 1.6673f); // convert input voltage (0..3.3V) -> acc_y m/s^2
pmic 8:d68e177e2571 105 LinearCharacteristics u2gz(-4.652f, 1.4949f); // convert input voltage (0..3.3V) -> w_x rad/s
pmic 8:d68e177e2571 106 LinearCharacteristics u3k3_TO_1V(0.303030303f, 0.0f, 3.3f, 0.0f);// normalize output voltage (0..3.3)V -> (0..1) V
rtlabor 0:15be70d21d7c 107
pmic 5:d6c7ccbbce78 108 // user defined functions
rtlabor 0:15be70d21d7c 109 void updateControllers(void); // speed controller loop (via interrupt)
pmic 5:d6c7ccbbce78 110 void pressed(void); // user Button pressed
pmic 5:d6c7ccbbce78 111 void released(void); // user Button released
pmic 8:d68e177e2571 112 void printLine();
rtlabor 0:15be70d21d7c 113
pmic 5:d6c7ccbbce78 114 // main program and control loop
pmic 5:d6c7ccbbce78 115 // -----------------------------------------------------------------------------
rtlabor 0:15be70d21d7c 116 int main()
rtlabor 0:15be70d21d7c 117 {
pmic 5:d6c7ccbbce78 118 // for serial comm.
pmic 5:d6c7ccbbce78 119 pc.baud(2000000);
pmic 5:d6c7ccbbce78 120
pmic 5:d6c7ccbbce78 121 // reset encoder, controller and filters
pmic 5:d6c7ccbbce78 122 MotorEncoder.reset();
pmic 5:d6c7ccbbce78 123 MotorDiff.reset(0.0f,0.0f);
rtlabor 0:15be70d21d7c 124 pi_w2zero.reset(0.0f);
pmic 5:d6c7ccbbce78 125 pi_w.reset(0.0f);
pmic 5:d6c7ccbbce78 126
pmic 5:d6c7ccbbce78 127 FilterACCx.reset(u2ax(3.3f*ax.read()));
pmic 5:d6c7ccbbce78 128 FilterACCy.reset(u2ay(3.3f*ay.read()));
pmic 5:d6c7ccbbce78 129 FilterGYRZ.reset(u2gz(3.3f*gz.read()));
pmic 13:a308f5e6c306 130
pmic 13:a308f5e6c306 131 FilterTrajectory.reset(0.0f);
pmic 13:a308f5e6c306 132
pmic 10:a28f393c6716 133 Wobble.reset();
pmic 10:a28f393c6716 134 Wobble.printGPAmeasPara();
pmic 11:ed2638662dfa 135 inpWobble = 0.0f;
pmic 11:ed2638662dfa 136 outWobble = 0.0f;
pmic 11:ed2638662dfa 137 excWobble = 0.0f;
pmic 8:d68e177e2571 138
pmic 5:d6c7ccbbce78 139 // reset output
pmic 10:a28f393c6716 140 desTorque = 0.0f;
pmic 10:a28f393c6716 141 out.write(u3k3_TO_1V(i2u(desTorque*Km)));
pmic 5:d6c7ccbbce78 142
pmic 15:ed33be6f040e 143 // reset statemachine
pmic 13:a308f5e6c306 144 shouldGoDown = 0;
pmic 13:a308f5e6c306 145 shouldBalance = 0;
pmic 13:a308f5e6c306 146
pmic 5:d6c7ccbbce78 147 // attach controller loop to timer interrupt
rtlabor 0:15be70d21d7c 148 ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = 400Hz;
pmic 5:d6c7ccbbce78 149 Button.fall(&pressed); // attach key pressed function
pmic 5:d6c7ccbbce78 150 Button.rise(&released); // attach key pressed function
rtlabor 0:15be70d21d7c 151 }
pmic 5:d6c7ccbbce78 152
pmic 5:d6c7ccbbce78 153 void updateControllers(void)
pmic 5:d6c7ccbbce78 154 {
pmic 8:d68e177e2571 155
pmic 5:d6c7ccbbce78 156 // read encoder data
pmic 5:d6c7ccbbce78 157 short counts = MotorEncoder; // counts in 1
pmic 5:d6c7ccbbce78 158 float omega = MotorDiff(counts); // angular velofity motor
pmic 5:d6c7ccbbce78 159
pmic 5:d6c7ccbbce78 160 // read imu data
pmic 5:d6c7ccbbce78 161 float accx = u2ax(3.3f*ax.read());
pmic 5:d6c7ccbbce78 162 float accy = u2ay(3.3f*ay.read());
pmic 5:d6c7ccbbce78 163 float gyrz = u2gz(3.3f*gz.read());
pmic 5:d6c7ccbbce78 164
pmic 5:d6c7ccbbce78 165 // perform complementary filter
pmic 5:d6c7ccbbce78 166 float ang = atan2(-FilterACCx(accx), FilterACCy(accy)) + FilterGYRZ(gyrz) + pi/4.0f;
pmic 5:d6c7ccbbce78 167
pmic 5:d6c7ccbbce78 168 // get current state of the cube
pmic 5:d6c7ccbbce78 169 float actualAngleDegree = ang*180.0f/pi;
pmic 8:d68e177e2571 170 if(actualAngleDegree > -10.0f && actualAngleDegree < 10.0f) {
pmic 5:d6c7ccbbce78 171 doesStand = 1;
pmic 8:d68e177e2571 172 } else {
pmic 5:d6c7ccbbce78 173 doesStand = 0;
pmic 5:d6c7ccbbce78 174 }
pmic 5:d6c7ccbbce78 175
pmic 5:d6c7ccbbce78 176 // update controllers
pmic 8:d68e177e2571 177 if(shouldBalance) {
pmic 15:ed33be6f040e 178
pmic 15:ed33be6f040e 179 /*
pmic 10:a28f393c6716 180 // balance, set n_soll = 0.0f
pmic 15:ed33be6f040e 181 // ---------------------------------------------------------------------
pmic 5:d6c7ccbbce78 182 // K matrix: -5.2142 -0.6247 // from Matlab
pmic 13:a308f5e6c306 183 float uPI = pi_w2zero(n_soll - omega); // needs further inverstigation
pmic 13:a308f5e6c306 184 float uSS = (-5.2142f*ang - 0.6247f*gyrz);
pmic 13:a308f5e6c306 185 desTorque = uPI - uSS; // state space controller for balance, calc desired Torque
pmic 8:d68e177e2571 186 if(abs(desTorque) > maxTorque) {
pmic 8:d68e177e2571 187 desTorque = copysign(maxTorque, desTorque);
pmic 8:d68e177e2571 188 }
pmic 8:d68e177e2571 189 if(k == 0) printLine();
pmic 13:a308f5e6c306 190 if(k++ < 2000) pc.printf("%6.4f %6.4f %6.4f %6.4f\r\n", uPI, uSS, ang, omega);
pmic 15:ed33be6f040e 191 */
pmic 15:ed33be6f040e 192
pmic 13:a308f5e6c306 193 /*
pmic 15:ed33be6f040e 194 // step response velocity controller, set n_soll = 0.0f
pmic 15:ed33be6f040e 195 // ---------------------------------------------------------------------
pmic 13:a308f5e6c306 196 desTorque = pi_w(10.0f - omega);
pmic 10:a28f393c6716 197 if(k == 0) printLine();
pmic 10:a28f393c6716 198 if(k++ < 2000) pc.printf("%6.4f %6.4f %6.4f\r\n", 10.0f, omega, desTorque);
pmic 10:a28f393c6716 199 */
pmic 15:ed33be6f040e 200
pmic 15:ed33be6f040e 201 ///*
pmic 15:ed33be6f040e 202 // gpa measurement, set n_soll = 15.0f
pmic 15:ed33be6f040e 203 // ---------------------------------------------------------------------
pmic 11:ed2638662dfa 204 // measuring the plant P and the closed loop tf T = PC/(1 + PC)
pmic 10:a28f393c6716 205 desTorque = pi_w(n_soll + excWobble - omega);
pmic 11:ed2638662dfa 206 inpWobble = desTorque;
pmic 11:ed2638662dfa 207 outWobble = omega;
pmic 13:a308f5e6c306 208 excWobble = Wobble(excWobble, outWobble);
pmic 11:ed2638662dfa 209 // measuring the controller C and the closed loop tf SC = C/(1 + PC)
pmic 11:ed2638662dfa 210 // desTorque = pi_w(n_soll + excWobble - omega);
pmic 11:ed2638662dfa 211 // inpWobble = n_soll + excWobble - omega;
pmic 11:ed2638662dfa 212 // outWobble = desTorque;
pmic 15:ed33be6f040e 213 // excWobble = Wobble(inpWobble, outWobble);
pmic 10:a28f393c6716 214 if(++k == 73000) Wobble.printGPAmeasTime();
pmic 15:ed33be6f040e 215 //*/
pmic 15:ed33be6f040e 216
pmic 13:a308f5e6c306 217 } else if(shouldGoDown) {
pmic 13:a308f5e6c306 218 // swing down
pmic 13:a308f5e6c306 219 // K matrix: -5.2142 -0.6247 // from Matlab
pmic 13:a308f5e6c306 220 // V gain: -2.6080 // from Matlab
pmic 15:ed33be6f040e 221 float ref = FilterTrajectory(pi/4.0f);
pmic 13:a308f5e6c306 222 float uV = V*ref;
pmic 13:a308f5e6c306 223 float uSS = (-5.2142f*ang - 0.6247f*gyrz);
pmic 15:ed33be6f040e 224 desTorque = uV - uSS; // state space controller for balance
pmic 13:a308f5e6c306 225 if(abs(desTorque) > maxTorque) {
pmic 13:a308f5e6c306 226 desTorque = copysign(maxTorque, desTorque);
pmic 13:a308f5e6c306 227 }
pmic 13:a308f5e6c306 228 if(abs(ref - ang)/abs(ref) < 0.10f) {
pmic 13:a308f5e6c306 229 shouldGoDown = 0;
pmic 13:a308f5e6c306 230 FilterTrajectory.reset(omega);
pmic 13:a308f5e6c306 231 }
pmic 8:d68e177e2571 232 } else {
pmic 15:ed33be6f040e 233 desTorque = pi_w(FilterTrajectory(0.0f) - omega); // state space controller for balance
pmic 5:d6c7ccbbce78 234 }
pmic 5:d6c7ccbbce78 235 // convert Nm -> A and write to AOUT
pmic 8:d68e177e2571 236 out.write(u3k3_TO_1V(i2u(desTorque*Km)));
pmic 5:d6c7ccbbce78 237 }
pmic 5:d6c7ccbbce78 238
pmic 5:d6c7ccbbce78 239 // Buttonhandling and statemachine
pmic 5:d6c7ccbbce78 240 // -----------------------------------------------------------------------------
pmic 5:d6c7ccbbce78 241 // start timer as soon as Button is pressed
pmic 5:d6c7ccbbce78 242 void pressed()
pmic 5:d6c7ccbbce78 243 {
pmic 5:d6c7ccbbce78 244 t.start();
pmic 5:d6c7ccbbce78 245 }
pmic 5:d6c7ccbbce78 246
pmic 5:d6c7ccbbce78 247 // evaluating statemachine
pmic 5:d6c7ccbbce78 248 void released()
pmic 5:d6c7ccbbce78 249 {
pmic 5:d6c7ccbbce78 250
pmic 5:d6c7ccbbce78 251 // readout, stop and reset timer
pmic 5:d6c7ccbbce78 252 float ButtonTime = t.read();
pmic 5:d6c7ccbbce78 253 t.stop();
pmic 5:d6c7ccbbce78 254 t.reset();
pmic 5:d6c7ccbbce78 255
pmic 5:d6c7ccbbce78 256 // if the cube doesStand
pmic 5:d6c7ccbbce78 257 if(doesStand) {
pmic 5:d6c7ccbbce78 258 // in - or decrease speed
pmic 12:6287235b2570 259 if(ButtonTime < 3.0f) {
pmic 5:d6c7ccbbce78 260 // press Button long -> increase speed 5 rev/min
pmic 8:d68e177e2571 261 if(ButtonTime > 0.3f) {
pmic 12:6287235b2570 262 n_soll -= 5.0f;
pmic 5:d6c7ccbbce78 263 }
pmic 5:d6c7ccbbce78 264 // press Button short -> decrease speed 5 rev/min
pmic 5:d6c7ccbbce78 265 else {
pmic 12:6287235b2570 266 n_soll += 5.0f;
pmic 5:d6c7ccbbce78 267 }
pmic 5:d6c7ccbbce78 268 // constrain n_soll
pmic 5:d6c7ccbbce78 269 if(n_soll > v_max)
pmic 5:d6c7ccbbce78 270 n_soll = v_max;
pmic 5:d6c7ccbbce78 271 if(n_soll < -v_max)
pmic 5:d6c7ccbbce78 272 n_soll = -v_max;
pmic 5:d6c7ccbbce78 273 }
pmic 5:d6c7ccbbce78 274 // stop balancing
pmic 5:d6c7ccbbce78 275 else {
pmic 5:d6c7ccbbce78 276 n_soll = 0.0f;
pmic 5:d6c7ccbbce78 277 shouldBalance = 0;
pmic 13:a308f5e6c306 278 shouldGoDown = 1;
pmic 13:a308f5e6c306 279 FilterTrajectory.reset(0.0f);
pmic 5:d6c7ccbbce78 280 pi_w2zero.reset(0.0f);
pmic 5:d6c7ccbbce78 281 }
pmic 5:d6c7ccbbce78 282 } else {
pmic 13:a308f5e6c306 283 if(ButtonTime > 3.0f) {
pmic 5:d6c7ccbbce78 284 shouldBalance = 1;
pmic 13:a308f5e6c306 285 shouldGoDown = 0;
pmic 13:a308f5e6c306 286 pi_w.reset(0.0f);
pmic 13:a308f5e6c306 287 }
rtlabor 0:15be70d21d7c 288 }
rtlabor 0:15be70d21d7c 289 }
pmic 8:d68e177e2571 290
pmic 8:d68e177e2571 291 void printLine()
pmic 8:d68e177e2571 292 {
pmic 8:d68e177e2571 293 printf("-----------------------------------------------------------------------------------------\r\n");
pmic 8:d68e177e2571 294 }