Juliette Slob / Mbed 2 deprecated PES_tutorial_5_copy

Using HIDScope for P(I)D controller

Dependencies:   FastPWM HIDScope MODSERIAL QEI biquadFilter mbed

Fork of PES_tutorial_5 by BMT Module 9 Group 4

main.cpp@15:c2cfab737a4c, 2018-10-19 (annotated)

Committer:
lweersink
Date:
Fri Oct 19 09:30:44 2018 +0000
Revision:
15:c2cfab737a4c
Parent:
14:29236a33b5e4
Child:
16:0a8d4d746454
Child:
17:4a0912c93771
PI controller, de waarde van Ki en Kp moet nog bepaald worden

Who changed what in which revision?

UserRevisionLine numberNew contents of line
1856413 0:2e33035d4e86 1 #include "mbed.h"
1856413 13:0b51846cf9e3 2 #include "FastPWM.h"
1856413 2:34c14fb36b5d 3 #include "MODSERIAL.h"
lweersink 4:49c5fd62a192 4 #include "QEI.h"
1856413 12:1ecd11dc2c00 5 #include <math.h>
1856413 2:34c14fb36b5d 6 MODSERIAL pc(USBTX, USBRX);
1856413 13:0b51846cf9e3 7 DigitalOut motor1DirectionPin(D7);
1856413 13:0b51846cf9e3 8 FastPWM motor1MagnitudePin(D6);
1856413 8:ceb9abb5a4a8 9 AnalogIn potMeter1(A4);
1856413 12:1ecd11dc2c00 10 AnalogIn potMeter2(A5);
1856413 8:ceb9abb5a4a8 11 InterruptIn button2(D3);
1856413 9:b002572e37fd 12 QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
1856413 12:1ecd11dc2c00 13
1856413 12:1ecd11dc2c00 14 //Tickers
1856413 12:1ecd11dc2c00 15 Ticker MeasureControl;
lweersink 14:29236a33b5e4 16 Ticker print;
lweersink 14:29236a33b5e4 17 /*Ticker MakeMotorRotate;*/ //Waar zal deze ticker voor dienen?
1856413 9:b002572e37fd 18
1856413 9:b002572e37fd 19 //Global variables
1856413 12:1ecd11dc2c00 20 volatile double measuredPosition = 0.0;
1856413 12:1ecd11dc2c00 21 volatile double referencePosition = 0.0;
lweersink 14:29236a33b5e4 22 volatile double motorValue= 0.01;
lweersink 15:c2cfab737a4c 23 volatile double Kp = 0.0; //dit maken we variabel, dit zorgt voor een grote of kleine overshoot
lweersink 15:c2cfab737a4c 24 volatile double Ki = 1.0; //dit moeten we bepalen met een plot bijvoorbeeld
lweersink 15:c2cfab737a4c 25 volatile double Ts = 0.01;
lweersink 15:c2cfab737a4c 26 volatile double Error_integral = 0.0;
lweersink 15:c2cfab737a4c 27
nicollevanrijswijk 5:a1fb2d2fb2d0 28
1856413 13:0b51846cf9e3 29 //------------------------------------------------------------------------------
1856413 13:0b51846cf9e3 30 // Functions
1856413 12:1ecd11dc2c00 31
1856413 12:1ecd11dc2c00 32 double GetReferencePosition()
1856413 12:1ecd11dc2c00 33 {
1856413 12:1ecd11dc2c00 34 double potMeterIn = potMeter1.read();
lweersink 14:29236a33b5e4 35 referencePosition = 4.0*3.14*potMeterIn - 2.0*3.14 ; // Reference value y, scaled to -2 to 2 revolutions (or 0 to 100 pi) WAAROM?
1856413 12:1ecd11dc2c00 36 return referencePosition;
1856413 0:2e33035d4e86 37 }
nicollevanrijswijk 11:4e3ef6150a2e 38
1856413 13:0b51846cf9e3 39 double GetMeasuredPosition()
nicollevanrijswijk 11:4e3ef6150a2e 40 {
nicollevanrijswijk 11:4e3ef6150a2e 41 double counts = Encoder.getPulses();
lweersink 14:29236a33b5e4 42 measuredPosition = ( counts / (8400)) * 6.28; // Rotational position in radians
1856413 13:0b51846cf9e3 43 return measuredPosition;
nicollevanrijswijk 11:4e3ef6150a2e 44 }
nicollevanrijswijk 11:4e3ef6150a2e 45
lweersink 14:29236a33b5e4 46 double FeedbackControl(double Error)
lweersink 14:29236a33b5e4 47 {
lweersink 14:29236a33b5e4 48 // Proportional part:
lweersink 15:c2cfab737a4c 49 Kp = 20*potMeter2.read(); //van 0 tot 20, waardes rond de 5 zijn het beste (minder overshoot + minder trilling motor beste combinatie hiervan)
1856413 12:1ecd11dc2c00 50 double u_k = Kp * Error;
lweersink 15:c2cfab737a4c 51 // Integral part:
lweersink 15:c2cfab737a4c 52 Error_integral = Error_integral + Error * Ts;
lweersink 15:c2cfab737a4c 53 double u_i = Ki * Error_integral;
lweersink 14:29236a33b5e4 54 // Sum all parts and return it
lweersink 15:c2cfab737a4c 55 return u_k + u_i; //motorValue
1856413 12:1ecd11dc2c00 56 }
1856413 12:1ecd11dc2c00 57
1856413 12:1ecd11dc2c00 58 void SetMotor1(double motorValue)
1856413 12:1ecd11dc2c00 59 {
1856413 12:1ecd11dc2c00 60 // Given -1<=motorValue<=1, this sets the PWM and direction
1856413 12:1ecd11dc2c00 61 // bits for motor 1. Positive value makes motor rotating
1856413 12:1ecd11dc2c00 62 // clockwise. motorValues outside range are truncated to
1856413 12:1ecd11dc2c00 63 // within range
lweersink 14:29236a33b5e4 64 if (motorValue >=0)
1856413 12:1ecd11dc2c00 65 {
1856413 12:1ecd11dc2c00 66 motor1DirectionPin=1;
1856413 12:1ecd11dc2c00 67 }
1856413 12:1ecd11dc2c00 68 else
1856413 12:1ecd11dc2c00 69 {
1856413 12:1ecd11dc2c00 70 motor1DirectionPin=0;
1856413 12:1ecd11dc2c00 71 }
lweersink 14:29236a33b5e4 72 if (fabs(motorValue)>1)
1856413 12:1ecd11dc2c00 73 {
1856413 12:1ecd11dc2c00 74 motor1MagnitudePin = 1;
1856413 12:1ecd11dc2c00 75 }
1856413 12:1ecd11dc2c00 76 else
1856413 12:1ecd11dc2c00 77 {
1856413 12:1ecd11dc2c00 78 motor1MagnitudePin = fabs(motorValue);
1856413 12:1ecd11dc2c00 79 }
1856413 12:1ecd11dc2c00 80 }
1856413 12:1ecd11dc2c00 81 //-----------------------------------------------------------------------------
lweersink 14:29236a33b5e4 82 // Tickers
1856413 12:1ecd11dc2c00 83 void MeasureAndControl(void)
1856413 12:1ecd11dc2c00 84 {
lweersink 14:29236a33b5e4 85 // This function determines the desired velocity, measures the
1856413 12:1ecd11dc2c00 86 // actual velocity, and controls the motor with
1856413 12:1ecd11dc2c00 87 // a simple Feedback controller. Call this from a Ticker.
lweersink 14:29236a33b5e4 88 referencePosition = GetReferencePosition();
lweersink 14:29236a33b5e4 89 measuredPosition = GetMeasuredPosition();
lweersink 14:29236a33b5e4 90 motorValue = FeedbackControl(referencePosition - measuredPosition);
1856413 12:1ecd11dc2c00 91 SetMotor1(motorValue);
1856413 13:0b51846cf9e3 92 }
1856413 12:1ecd11dc2c00 93
lweersink 14:29236a33b5e4 94 void printen()
lweersink 14:29236a33b5e4 95 {
lweersink 14:29236a33b5e4 96 pc.baud (115200);
lweersink 14:29236a33b5e4 97 pc.printf("Referenceposition %f \r\n", referencePosition);
lweersink 14:29236a33b5e4 98 pc.printf("Measured position %f \r\n", measuredPosition);
lweersink 15:c2cfab737a4c 99 pc.printf("Motorvalue/Error %f \r\n", motorValue);
lweersink 15:c2cfab737a4c 100 pc.printf("Proportional gain %f \r\n", Kp);
lweersink 15:c2cfab737a4c 101 pc.printf("Integral gain %f \r\n", Ki);
lweersink 15:c2cfab737a4c 102 pc.printf("Error integral %f \r\n", Error_integral);
lweersink 14:29236a33b5e4 103 }
1856413 12:1ecd11dc2c00 104 //-----------------------------------------------------------------------------
1856413 0:2e33035d4e86 105 int main()
1856413 0:2e33035d4e86 106 {
1856413 12:1ecd11dc2c00 107 //Initialize once
1856413 6:bd73804c8cec 108 pc.baud(115200);
1856413 13:0b51846cf9e3 109 motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period: 16.7 kHz.
1856413 12:1ecd11dc2c00 110 MeasureControl.attach(MeasureAndControl, 0.01);
lweersink 14:29236a33b5e4 111 print.attach(printen, 3);
1856413 9:b002572e37fd 112
1856413 12:1ecd11dc2c00 113 //Other initializations
1856413 12:1ecd11dc2c00 114
1856413 13:0b51846cf9e3 115 while(true)
nicollevanrijswijk 11:4e3ef6150a2e 116 {
nicollevanrijswijk 11:4e3ef6150a2e 117 }
nicollevanrijswijk 11:4e3ef6150a2e 118 }