RT2_Cuboid_demo
Cuboid
Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:15be70d21d7c
- Child:
- 1:2e118d67eeae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jan 10 16:08:07 2018 +0000
@@ -0,0 +1,145 @@
+#include "mbed.h"
+#include "math.h"
+//------------------------------------------
+#define PI 3.1415927f
+//------------------------------------------
+#include "EncoderCounter.h"
+#include "DiffCounter.h"
+#include "PI_Cntrl.h"
+#include "IIR_filter.h"
+#include "LinearCharacteristics.h"
+/* Cuboid balance on one edge on Nucleo F446RE
+
+ **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc
+ settings for Maxon ESCON controller (upload via ESCON Studio) ****
+hardware Connections:
+
+ CN7 CN10
+ : :
+ : :
+ .. ..
+ .. ENC CH A o.
+ o. GND .. 10.
+ o. ENC CH B ..
+ .. ..
+ .. ..
+ .o AIN acy (PA_0) ..
+ .o AIN acy (PA_1) .. 5.
+ .o i_soll(PA_4) .o Analog GND
+ .o AIN Gyro (PB_0) ..
+ .. ..
+ .. .. 1.
+ -------------------------
+ CN7 CN10
+ */
+Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer
+InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed
+AnalogIn ax(PA_0); // Analog IN (acc x) on PA_0
+AnalogIn ay(PA_1); // Analog IN (acc y) on PA_1
+AnalogIn gz(PB_0); // Analog IN (gyr z) on PB_0
+AnalogOut out(PA_4); // Analog OUT 1.6 V -> 0A 3.2A -> 2A (see ESCON)
+float out_value = 1.6f; // set voltage on 1.6 V (0 A current)
+float kp = 4.0f; // speed control gain for motor speed cntrl.
+float Tn = 0.05f; // Integral time " " "
+float Ts = 0.0025; // sample time
+float v_max = 200; // maximum speed rad/s
+//------------------------------------------
+float n_soll = 10.0f; // nominal speed for speed control tests
+float data[1000][2]; // logging data
+unsigned int k = 0; // standart counter for output
+unsigned int n = 0; // standart counter for output
+//------------------------------------------
+Ticker ControllerLoopTimer; // interrupt for control loop
+Timer t; // Timer to analyse Button
+float TotalTime = 0.0f;
+float comp_filter_tau =1.0f; // time constant of complementary filter
+EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7
+DiffCounter diff(0.01,Ts); // discrete differentiate, based on encoder data
+PI_Cntrl pi_w(kp,Tn,2.0f); // PI controller for test purposes motor speed (no balance)
+PI_Cntrl pi_w2zero(-.01f,1.0f,0.4f); // PI controller to bring motor speed to zero while balancing
+//------------------------------------------
+IIR_filter f_ax(comp_filter_tau,Ts); // 1st order LP for complementary filter acc_x
+IIR_filter f_ay(comp_filter_tau,Ts); // 1st order LP for complementary filter acc_y
+IIR_filter f_gz(comp_filter_tau,Ts,comp_filter_tau);// 1st order LP for complementary filter gyro
+// define some linear characteristics -----------------------------------------
+LinearCharacteristics i2u(0.8f,-2.0f); // convert desired current (Amps) -> voltage 0..3.3V
+LinearCharacteristics u2n(312.5f,1.6f); // convert input voltage (0..3.3V) -> speed (1/min)
+LinearCharacteristics u2w(32.725,1.6f); // convert input voltage (0..3.3V) -> speed (rad/sec)
+LinearCharacteristics u2ax(14.67f,1.6378f); // convert input voltage (0..3.3V) -> acc_x m/s^2
+LinearCharacteristics u2ay(15.02f ,1.6673f); // convert input voltage (0..3.3V) -> acc_y m/s^2
+LinearCharacteristics u2gz(-4.652f,1.4949f); // convert input voltage (0..3.3V) -> w_x rad/s
+LinearCharacteristics u3k3_TO_1V(0.303030303f,0,3.3f,0.0f);// normalize output voltage (0..3.3)V -> (0..1) V
+
+// ----- User defined functions -----------
+void updateControllers(void); // speed controller loop (via interrupt)
+void pressed(void); // user button pressed
+void released(void); // user button released
+// ------ END User defined functions ------
+
+//******************************************************************************
+//---------- main loop -------------
+//******************************************************************************
+int main()
+{
+ //attach controller loop to timer interrupt
+ pc.baud(2000000); // for serial comm.
+ counter1.reset(); // encoder reset
+ diff.reset(0.0f,0.0f);
+ pi_w.reset(0.0f);
+ pi_w2zero.reset(0.0f);
+ f_ax.reset(u2ax(3.3f*ax.read()));
+ f_ay.reset(u2ay(3.3f*ay.read()));
+ f_gz.reset(u2gz(3.3f*gz.read()));
+ ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = 400Hz;
+ button.fall(&pressed); // attach key pressed function
+ button.rise(&released); // attach key pressed function
+}
+//******************************************************************************
+//---------- control loop -------------
+//******************************************************************************
+void updateControllers(void){
+ short counts = counter1; // get counts from Encoder
+ float vel = diff(counts); // motor velocity
+ float wz = u2gz(3.3f*gz.read()); // cuboid rot-velocity
+ float ang = atan2(-f_ax(u2ax(3.3f*ax.read())),f_ay(u2ay(3.3f*ay.read())))+f_gz(wz)+PI/4.0f; // compl. filter
+ // K matrix: -5.2142 -0.6247 // from Matlab
+ float desTorque = pi_w2zero(n_soll-vel)-(-5.2142f*ang-0.6247f*wz); // state space controller for balance
+ out.write(u3k3_TO_1V(i2u(desTorque/0.217f))); // convert Nm -> A and write to AOUT
+ //out.write(u3k3_TO_1V(i2u(pi_w(n_soll-vel)))); // test speed controller
+ if(++k >= 99){
+ k = 0;
+ pc.printf("phi=%3.2f omega=%3.2f \r\n",ang*180.0f/PI,vel);
+ }
+}
+//******************************************************************************
+//********** User functions like buttens handle etc. **************
+//******************************************************************************
+// pressed button
+//******************************************************************************
+void pressed()
+{
+t.start();
+}
+//******************************************************************************
+// analyse pressed button
+//******************************************************************************
+void released()
+{
+ TotalTime = t.read();
+ t.stop();
+ t.reset();
+ if(TotalTime<0.1f) // short button presses means decrease speed
+ {
+ n_soll -=5; // decrease nominal speed
+ TotalTime = 0.0f; // reset Time
+ }
+ else
+ {
+ n_soll +=5; // otherwise increase n_soll is in rev/min
+ TotalTime = 0.0f;
+ }
+ if(n_soll>v_max) // limit nominal speed
+ n_soll=v_max;
+ if(n_soll<-v_max)
+ n_soll=-v_max;
+}