RT2_Cuboid_demo / Mbed 2 deprecated nucf446-cuboid-balance1_strong

Cuboid

Dependencies:   mbed

main.cpp@12:6287235b2570, 2018-04-05 (annotated)

Committer:
pmic
Date:
Thu Apr 05 08:28:32 2018 +0000
Revision:
12:6287235b2570
Parent:
11:ed2638662dfa
Child:
13:a308f5e6c306
change filter and difffilter to double

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.
rtlabor 0:15be70d21d7c 53 float out_value = 1.6f; // set voltage on 1.6 V (0 A current)
pmic 10:a28f393c6716 54 float Ts = 0.0025f; // sample time
pmic 10:a28f393c6716 55 float v_max = 200.0f; // maximum speed rad/s
pmic 5:d6c7ccbbce78 56 float n_soll = 0.0f; // nominal speed for speed control tests
pmic 8:d68e177e2571 57 float tau = 1.05f; // time constant of complementary filter
pmic 5:d6c7ccbbce78 58 float fg = 300.0f;
pmic 5:d6c7ccbbce78 59
pmic 5:d6c7ccbbce78 60 // output and statemachine
pmic 5:d6c7ccbbce78 61 unsigned int k = 0; // counter for serial output
pmic 5:d6c7ccbbce78 62 bool doesStand = 0; // state if the cube is standing or not
pmic 5:d6c7ccbbce78 63 bool shouldBalance = 0; // state if the controller is active
pmic 5:d6c7ccbbce78 64
pmic 5:d6c7ccbbce78 65 // set up encoder
pmic 8:d68e177e2571 66 EncoderCounter MotorEncoder(PB_6, PB_7); // initialize counter on PB_6 and PB_7
pmic 8:d68e177e2571 67 DiffCounter MotorDiff(1/(2.0f*pi*80.0f), Ts); // discrete differentiate, based on encoder data
pmic 5:d6c7ccbbce78 68
pmic 8:d68e177e2571 69 // 1/0.217 A/Nm -> 2.0/0.217 = 13.82 A
pmic 8:d68e177e2571 70 float maxCurrent = 15.0f;
pmic 8:d68e177e2571 71 float Km = 1/0.217f; // Motorgain: Torque -> km -> Current in A/Nm
pmic 8:d68e177e2571 72 float maxTorque = maxCurrent/Km;
pmic 12:6287235b2570 73 PI_Cntrl pi_w2zero(-.012f, 0.8f, Ts, maxTorque); // controller to bring motor speed to zero while balancing
pmic 10:a28f393c6716 74 PI_Cntrl pi_w(0.6f, 0.4f, Ts, maxTorque); // PI controller for test purposes motor speed (no balance)
pmic 10:a28f393c6716 75 float desTorque = 0.0f;
pmic 10:a28f393c6716 76
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 5:d6c7ccbbce78 90 IIR_filter FilterACCx(tau, Ts, 1.0f); // 1st order LP for complementary filter acc_x
pmic 5:d6c7ccbbce78 91 IIR_filter FilterACCy(tau, Ts, 1.0f); // 1st order LP for complementary filter acc_y
pmic 5:d6c7ccbbce78 92 IIR_filter FilterGYRZ(tau, Ts, tau); // 1st order LP for complementary filter gyro
pmic 5:d6c7ccbbce78 93
pmic 8:d68e177e2571 94 // IIR_filter FilterDiffANG(1.0f/(2.0f*pi*180.0f), Ts);
pmic 8:d68e177e2571 95
pmic 5:d6c7ccbbce78 96 // linear characteristics
pmic 8:d68e177e2571 97 LinearCharacteristics i2u(0.1067f, -15.0f); // full range, convert desired current (Amps) -> voltage 0..3.3V
pmic 8:d68e177e2571 98 LinearCharacteristics u2n(312.5f, 1.6f); // convert input voltage (0..3.3V) -> speed (1/min)
pmic 8:d68e177e2571 99 LinearCharacteristics u2w(32.725, 1.6f); // convert input voltage (0..3.3V) -> speed (rad/sec)
pmic 8:d68e177e2571 100 LinearCharacteristics u2ax(14.67f, 1.6378f); // convert input voltage (0..3.3V) -> acc_x m/s^2
pmic 8:d68e177e2571 101 LinearCharacteristics u2ay(15.02f, 1.6673f); // convert input voltage (0..3.3V) -> acc_y m/s^2
pmic 8:d68e177e2571 102 LinearCharacteristics u2gz(-4.652f, 1.4949f); // convert input voltage (0..3.3V) -> w_x rad/s
pmic 8:d68e177e2571 103 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 104
pmic 5:d6c7ccbbce78 105 // user defined functions
rtlabor 0:15be70d21d7c 106 void updateControllers(void); // speed controller loop (via interrupt)
pmic 5:d6c7ccbbce78 107 void pressed(void); // user Button pressed
pmic 5:d6c7ccbbce78 108 void released(void); // user Button released
pmic 8:d68e177e2571 109 void printLine();
rtlabor 0:15be70d21d7c 110
pmic 5:d6c7ccbbce78 111 // main program and control loop
pmic 5:d6c7ccbbce78 112 // -----------------------------------------------------------------------------
rtlabor 0:15be70d21d7c 113 int main()
rtlabor 0:15be70d21d7c 114 {
pmic 5:d6c7ccbbce78 115 // for serial comm.
pmic 5:d6c7ccbbce78 116 pc.baud(2000000);
pmic 5:d6c7ccbbce78 117
pmic 5:d6c7ccbbce78 118 // reset encoder, controller and filters
pmic 5:d6c7ccbbce78 119 MotorEncoder.reset();
pmic 5:d6c7ccbbce78 120 MotorDiff.reset(0.0f,0.0f);
rtlabor 0:15be70d21d7c 121 pi_w2zero.reset(0.0f);
pmic 5:d6c7ccbbce78 122 pi_w.reset(0.0f);
pmic 5:d6c7ccbbce78 123
pmic 5:d6c7ccbbce78 124 FilterACCx.reset(u2ax(3.3f*ax.read()));
pmic 5:d6c7ccbbce78 125 FilterACCy.reset(u2ay(3.3f*ay.read()));
pmic 5:d6c7ccbbce78 126 FilterGYRZ.reset(u2gz(3.3f*gz.read()));
pmic 5:d6c7ccbbce78 127
pmic 9:30ee1d386a1d 128 // FilterDiffANG.reset(u2gz(0.0f));
pmic 10:a28f393c6716 129
pmic 10:a28f393c6716 130 Wobble.reset();
pmic 10:a28f393c6716 131 Wobble.printGPAmeasPara();
pmic 11:ed2638662dfa 132 inpWobble = 0.0f;
pmic 11:ed2638662dfa 133 outWobble = 0.0f;
pmic 11:ed2638662dfa 134 excWobble = 0.0f;
pmic 8:d68e177e2571 135
pmic 5:d6c7ccbbce78 136 // reset output
pmic 10:a28f393c6716 137 desTorque = 0.0f;
pmic 10:a28f393c6716 138 out.write(u3k3_TO_1V(i2u(desTorque*Km)));
pmic 5:d6c7ccbbce78 139
pmic 5:d6c7ccbbce78 140 // attach controller loop to timer interrupt
rtlabor 0:15be70d21d7c 141 ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = 400Hz;
pmic 5:d6c7ccbbce78 142 Button.fall(&pressed); // attach key pressed function
pmic 5:d6c7ccbbce78 143 Button.rise(&released); // attach key pressed function
rtlabor 0:15be70d21d7c 144 }
pmic 5:d6c7ccbbce78 145
pmic 5:d6c7ccbbce78 146 void updateControllers(void)
pmic 5:d6c7ccbbce78 147 {
pmic 8:d68e177e2571 148
pmic 5:d6c7ccbbce78 149 // read encoder data
pmic 5:d6c7ccbbce78 150 short counts = MotorEncoder; // counts in 1
pmic 5:d6c7ccbbce78 151 float omega = MotorDiff(counts); // angular velofity motor
pmic 5:d6c7ccbbce78 152
pmic 5:d6c7ccbbce78 153 // read imu data
pmic 5:d6c7ccbbce78 154 float accx = u2ax(3.3f*ax.read());
pmic 5:d6c7ccbbce78 155 float accy = u2ay(3.3f*ay.read());
pmic 5:d6c7ccbbce78 156 float gyrz = u2gz(3.3f*gz.read());
pmic 5:d6c7ccbbce78 157
pmic 5:d6c7ccbbce78 158 // perform complementary filter
pmic 5:d6c7ccbbce78 159 float ang = atan2(-FilterACCx(accx), FilterACCy(accy)) + FilterGYRZ(gyrz) + pi/4.0f;
pmic 8:d68e177e2571 160 // float dang = FilterDiffANG(ang);
pmic 5:d6c7ccbbce78 161
pmic 5:d6c7ccbbce78 162 // get current state of the cube
pmic 5:d6c7ccbbce78 163 float actualAngleDegree = ang*180.0f/pi;
pmic 8:d68e177e2571 164 if(actualAngleDegree > -10.0f && actualAngleDegree < 10.0f) {
pmic 5:d6c7ccbbce78 165 doesStand = 1;
pmic 8:d68e177e2571 166 } else {
pmic 5:d6c7ccbbce78 167 doesStand = 0;
pmic 5:d6c7ccbbce78 168 }
pmic 5:d6c7ccbbce78 169
pmic 5:d6c7ccbbce78 170 // update controllers
pmic 8:d68e177e2571 171 if(shouldBalance) {
pmic 10:a28f393c6716 172 ///*
pmic 10:a28f393c6716 173 // balance, set n_soll = 0.0f
pmic 5:d6c7ccbbce78 174 // K matrix: -5.2142 -0.6247 // from Matlab
pmic 11:ed2638662dfa 175 float uPiC = pi_w2zero(n_soll - omega); // needs further inverstigation
pmic 8:d68e177e2571 176 float uSsC = (-5.2142f*ang - 0.6247f*gyrz);
pmic 8:d68e177e2571 177 desTorque = uPiC - uSsC; // state space controller for balance, calc desired Torque
pmic 8:d68e177e2571 178 if(abs(desTorque) > maxTorque) {
pmic 8:d68e177e2571 179 desTorque = copysign(maxTorque, desTorque);
pmic 8:d68e177e2571 180 }
pmic 8:d68e177e2571 181 if(k == 0) printLine();
pmic 8:d68e177e2571 182 if(k++ < 2000) pc.printf("%6.4f %6.4f %6.4f %6.4f\r\n", uPiC, uSsC, ang, omega);
pmic 10:a28f393c6716 183 //*/
pmic 10:a28f393c6716 184 /*
pmic 10:a28f393c6716 185 // step response, set n_soll = 0.0f
pmic 10:a28f393c6716 186 desTorque = pi_w(10.0f - omega);
pmic 10:a28f393c6716 187 if(k == 0) printLine();
pmic 10:a28f393c6716 188 if(k++ < 2000) pc.printf("%6.4f %6.4f %6.4f\r\n", 10.0f, omega, desTorque);
pmic 10:a28f393c6716 189 */
pmic 10:a28f393c6716 190 /*
pmic 10:a28f393c6716 191 // wobble, set n_soll = 15.0f
pmic 11:ed2638662dfa 192 // measuring the plant P and the closed loop tf T = PC/(1 + PC)
pmic 10:a28f393c6716 193 desTorque = pi_w(n_soll + excWobble - omega);
pmic 11:ed2638662dfa 194 inpWobble = desTorque;
pmic 11:ed2638662dfa 195 outWobble = omega;
pmic 11:ed2638662dfa 196 excWobble = Wobble(excWobble, outWobble);
pmic 11:ed2638662dfa 197 // measuring the controller C and the closed loop tf SC = C/(1 + PC)
pmic 11:ed2638662dfa 198 // desTorque = pi_w(n_soll + excWobble - omega);
pmic 11:ed2638662dfa 199 // inpWobble = n_soll + excWobble - omega;
pmic 11:ed2638662dfa 200 // outWobble = desTorque;
pmic 11:ed2638662dfa 201 //excWobble = Wobble(inpWobble, outWobble);
pmic 10:a28f393c6716 202 if(++k == 73000) Wobble.printGPAmeasTime();
pmic 10:a28f393c6716 203 */
pmic 8:d68e177e2571 204 } else {
pmic 10:a28f393c6716 205 desTorque = pi_w(n_soll - omega); // state space controller for balance, calc desired Torque
pmic 5:d6c7ccbbce78 206 }
pmic 5:d6c7ccbbce78 207 // convert Nm -> A and write to AOUT
pmic 8:d68e177e2571 208 out.write(u3k3_TO_1V(i2u(desTorque*Km)));
pmic 5:d6c7ccbbce78 209
pmic 8:d68e177e2571 210 // if(k == 0) printLine();
pmic 8:d68e177e2571 211 // if(k++ < 2000) pc.printf("%6.4f %6.4f %6.4f\r\n", accx, accy, gyrz);
pmic 5:d6c7ccbbce78 212 //out.write(u3k3_TO_1V(i2u(pi_w(n_soll-omega)))); // test speed controller
pmic 8:d68e177e2571 213 // if(++k >= 199){
pmic 8:d68e177e2571 214 // k = 0;
pmic 8:d68e177e2571 215 // pc.printf("phi=%3.2f omega=%3.2f omega=%3.2f \r\n", actualAngleDegree, omega, n_soll);
pmic 8:d68e177e2571 216 //}
pmic 8:d68e177e2571 217
pmic 5:d6c7ccbbce78 218 }
pmic 5:d6c7ccbbce78 219
pmic 5:d6c7ccbbce78 220 // Buttonhandling and statemachine
pmic 5:d6c7ccbbce78 221 // -----------------------------------------------------------------------------
pmic 5:d6c7ccbbce78 222 // start timer as soon as Button is pressed
pmic 5:d6c7ccbbce78 223 void pressed()
pmic 5:d6c7ccbbce78 224 {
pmic 5:d6c7ccbbce78 225 t.start();
pmic 5:d6c7ccbbce78 226 }
pmic 5:d6c7ccbbce78 227
pmic 5:d6c7ccbbce78 228 // evaluating statemachine
pmic 5:d6c7ccbbce78 229 void released()
pmic 5:d6c7ccbbce78 230 {
pmic 5:d6c7ccbbce78 231
pmic 5:d6c7ccbbce78 232 // readout, stop and reset timer
pmic 5:d6c7ccbbce78 233 float ButtonTime = t.read();
pmic 5:d6c7ccbbce78 234 t.stop();
pmic 5:d6c7ccbbce78 235 t.reset();
pmic 5:d6c7ccbbce78 236
pmic 5:d6c7ccbbce78 237 // if the cube doesStand
pmic 5:d6c7ccbbce78 238 if(doesStand) {
pmic 5:d6c7ccbbce78 239 // in - or decrease speed
pmic 12:6287235b2570 240 if(ButtonTime < 3.0f) {
pmic 5:d6c7ccbbce78 241 // press Button long -> increase speed 5 rev/min
pmic 8:d68e177e2571 242 if(ButtonTime > 0.3f) {
pmic 12:6287235b2570 243 n_soll -= 5.0f;
pmic 5:d6c7ccbbce78 244 }
pmic 5:d6c7ccbbce78 245 // press Button short -> decrease speed 5 rev/min
pmic 5:d6c7ccbbce78 246 else {
pmic 12:6287235b2570 247 n_soll += 5.0f;
pmic 5:d6c7ccbbce78 248 }
pmic 5:d6c7ccbbce78 249 // constrain n_soll
pmic 5:d6c7ccbbce78 250 if(n_soll > v_max)
pmic 5:d6c7ccbbce78 251 n_soll = v_max;
pmic 5:d6c7ccbbce78 252 if(n_soll < -v_max)
pmic 5:d6c7ccbbce78 253 n_soll = -v_max;
pmic 5:d6c7ccbbce78 254 }
pmic 5:d6c7ccbbce78 255 // stop balancing
pmic 5:d6c7ccbbce78 256 else {
pmic 5:d6c7ccbbce78 257 n_soll = 0.0f;
pmic 5:d6c7ccbbce78 258 shouldBalance = 0;
pmic 5:d6c7ccbbce78 259 pi_w2zero.reset(0.0f);
pmic 5:d6c7ccbbce78 260 }
pmic 5:d6c7ccbbce78 261 } else {
pmic 12:6287235b2570 262 if(ButtonTime > 3.0f)
pmic 5:d6c7ccbbce78 263 shouldBalance = 1;
pmic 5:d6c7ccbbce78 264 pi_w.reset(0.0f);
rtlabor 0:15be70d21d7c 265 }
rtlabor 0:15be70d21d7c 266 }
pmic 8:d68e177e2571 267
pmic 8:d68e177e2571 268 void printLine()
pmic 8:d68e177e2571 269 {
pmic 8:d68e177e2571 270 printf("-----------------------------------------------------------------------------------------\r\n");
pmic 8:d68e177e2571 271 }