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Using HIDScope for P(I)D controller
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
Fork of PES_tutorial_5 by
main.cpp@19:1353ba4d94db, 2018-10-22 (annotated)
- Committer:
- lweersink
- Date:
- Mon Oct 22 08:54:04 2018 +0000
- Revision:
- 19:1353ba4d94db
- Parent:
- 17:4a0912c93771
- Child:
- 20:e00e41e3cda8
Variabele double Filters() toegevoegd, met de bijbehorende filters
Who changed what in which revision?
User | Revision | Line number | New 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; |
1856413 | 9:b002572e37fd | 17 | |
1856413 | 9:b002572e37fd | 18 | //Global variables |
1856413 | 12:1ecd11dc2c00 | 19 | volatile double measuredPosition = 0.0; |
1856413 | 12:1ecd11dc2c00 | 20 | volatile double referencePosition = 0.0; |
lweersink | 14:29236a33b5e4 | 21 | volatile double motorValue= 0.01; |
lweersink | 17:4a0912c93771 | 22 | volatile double Kp = 5.0; //dit maken we variabel, dit zorgt voor een grote of kleine overshoot |
lweersink | 15:c2cfab737a4c | 23 | volatile double Ki = 1.0; //dit moeten we bepalen met een plot bijvoorbeeld |
lweersink | 17:4a0912c93771 | 24 | volatile double Kd = 0.0; |
lweersink | 15:c2cfab737a4c | 25 | volatile double Ts = 0.01; |
nicollevanrijswijk | 5:a1fb2d2fb2d0 | 26 | |
1856413 | 13:0b51846cf9e3 | 27 | //------------------------------------------------------------------------------ |
1856413 | 13:0b51846cf9e3 | 28 | // Functions |
lweersink | 19:1353ba4d94db | 29 | double Filters() |
lweersink | 19:1353ba4d94db | 30 | { |
lweersink | 19:1353ba4d94db | 31 | static BiQuad Notchfilter(1.0000, -1.6180, 1.0000, 1.0000, -1.5687, 0.9391); |
lweersink | 19:1353ba4d94db | 32 | static BiQuad HighPassFilter (1.0000, -2.0000, 1.0000, 1.0000, -1.8268, 0.8407); |
lweersink | 19:1353ba4d94db | 33 | static BiQuad LowPassFilter (1.0000, 2.0000, 1.0000, 1.0000, 0.3172, 0.1894); |
lweersink | 19:1353ba4d94db | 34 | } |
1856413 | 12:1ecd11dc2c00 | 35 | double GetReferencePosition() |
1856413 | 12:1ecd11dc2c00 | 36 | { |
1856413 | 12:1ecd11dc2c00 | 37 | double potMeterIn = potMeter1.read(); |
lweersink | 14:29236a33b5e4 | 38 | 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 | 39 | return referencePosition; |
1856413 | 0:2e33035d4e86 | 40 | } |
nicollevanrijswijk | 11:4e3ef6150a2e | 41 | |
1856413 | 13:0b51846cf9e3 | 42 | double GetMeasuredPosition() |
nicollevanrijswijk | 11:4e3ef6150a2e | 43 | { |
nicollevanrijswijk | 11:4e3ef6150a2e | 44 | double counts = Encoder.getPulses(); |
lweersink | 14:29236a33b5e4 | 45 | measuredPosition = ( counts / (8400)) * 6.28; // Rotational position in radians |
1856413 | 13:0b51846cf9e3 | 46 | return measuredPosition; |
nicollevanrijswijk | 11:4e3ef6150a2e | 47 | } |
nicollevanrijswijk | 11:4e3ef6150a2e | 48 | |
lweersink | 14:29236a33b5e4 | 49 | double FeedbackControl(double Error) |
lweersink | 14:29236a33b5e4 | 50 | { |
lweersink | 17:4a0912c93771 | 51 | static double Error_integral = 0; |
lweersink | 17:4a0912c93771 | 52 | static double Error_prev = Error; |
lweersink | 17:4a0912c93771 | 53 | //static BiQuad LowPassFilter(..., ..., ..., ..., ...) |
lweersink | 14:29236a33b5e4 | 54 | // Proportional part: |
lweersink | 17:4a0912c93771 | 55 | //van 0 tot 20, waardes rond de 5 zijn het beste (minder overshoot + minder trilling motor beste combinatie hiervan) |
1856413 | 12:1ecd11dc2c00 | 56 | double u_k = Kp * Error; |
lweersink | 15:c2cfab737a4c | 57 | // Integral part: |
lweersink | 15:c2cfab737a4c | 58 | Error_integral = Error_integral + Error * Ts; |
lweersink | 15:c2cfab737a4c | 59 | double u_i = Ki * Error_integral; |
lweersink | 17:4a0912c93771 | 60 | // Derivative part |
lweersink | 17:4a0912c93771 | 61 | double Error_derivative = (Error - Error_prev)/Ts; |
lweersink | 17:4a0912c93771 | 62 | Kd = 20*potMeter2.read(); |
lweersink | 17:4a0912c93771 | 63 | double u_d = Kd * Error_derivative; |
lweersink | 17:4a0912c93771 | 64 | Error_prev = Error; |
lweersink | 14:29236a33b5e4 | 65 | // Sum all parts and return it |
lweersink | 17:4a0912c93771 | 66 | return u_k + u_i + u_d; //motorValue |
1856413 | 12:1ecd11dc2c00 | 67 | } |
1856413 | 12:1ecd11dc2c00 | 68 | |
1856413 | 12:1ecd11dc2c00 | 69 | void SetMotor1(double motorValue) |
1856413 | 12:1ecd11dc2c00 | 70 | { |
1856413 | 12:1ecd11dc2c00 | 71 | // Given -1<=motorValue<=1, this sets the PWM and direction |
1856413 | 12:1ecd11dc2c00 | 72 | // bits for motor 1. Positive value makes motor rotating |
1856413 | 12:1ecd11dc2c00 | 73 | // clockwise. motorValues outside range are truncated to |
1856413 | 12:1ecd11dc2c00 | 74 | // within range |
lweersink | 14:29236a33b5e4 | 75 | if (motorValue >=0) |
1856413 | 12:1ecd11dc2c00 | 76 | { |
1856413 | 12:1ecd11dc2c00 | 77 | motor1DirectionPin=1; |
1856413 | 12:1ecd11dc2c00 | 78 | } |
1856413 | 12:1ecd11dc2c00 | 79 | else |
1856413 | 12:1ecd11dc2c00 | 80 | { |
1856413 | 12:1ecd11dc2c00 | 81 | motor1DirectionPin=0; |
1856413 | 12:1ecd11dc2c00 | 82 | } |
lweersink | 14:29236a33b5e4 | 83 | if (fabs(motorValue)>1) |
1856413 | 12:1ecd11dc2c00 | 84 | { |
1856413 | 12:1ecd11dc2c00 | 85 | motor1MagnitudePin = 1; |
1856413 | 12:1ecd11dc2c00 | 86 | } |
1856413 | 12:1ecd11dc2c00 | 87 | else |
1856413 | 12:1ecd11dc2c00 | 88 | { |
1856413 | 12:1ecd11dc2c00 | 89 | motor1MagnitudePin = fabs(motorValue); |
1856413 | 12:1ecd11dc2c00 | 90 | } |
1856413 | 12:1ecd11dc2c00 | 91 | } |
1856413 | 12:1ecd11dc2c00 | 92 | //----------------------------------------------------------------------------- |
lweersink | 14:29236a33b5e4 | 93 | // Tickers |
1856413 | 12:1ecd11dc2c00 | 94 | void MeasureAndControl(void) |
1856413 | 12:1ecd11dc2c00 | 95 | { |
lweersink | 14:29236a33b5e4 | 96 | // This function determines the desired velocity, measures the |
1856413 | 12:1ecd11dc2c00 | 97 | // actual velocity, and controls the motor with |
1856413 | 12:1ecd11dc2c00 | 98 | // a simple Feedback controller. Call this from a Ticker. |
lweersink | 14:29236a33b5e4 | 99 | referencePosition = GetReferencePosition(); |
lweersink | 14:29236a33b5e4 | 100 | measuredPosition = GetMeasuredPosition(); |
lweersink | 14:29236a33b5e4 | 101 | motorValue = FeedbackControl(referencePosition - measuredPosition); |
1856413 | 12:1ecd11dc2c00 | 102 | SetMotor1(motorValue); |
1856413 | 13:0b51846cf9e3 | 103 | } |
1856413 | 12:1ecd11dc2c00 | 104 | |
lweersink | 14:29236a33b5e4 | 105 | void printen() |
lweersink | 14:29236a33b5e4 | 106 | { |
lweersink | 14:29236a33b5e4 | 107 | pc.baud (115200); |
lweersink | 14:29236a33b5e4 | 108 | pc.printf("Referenceposition %f \r\n", referencePosition); |
lweersink | 14:29236a33b5e4 | 109 | pc.printf("Measured position %f \r\n", measuredPosition); |
lweersink | 15:c2cfab737a4c | 110 | pc.printf("Motorvalue/Error %f \r\n", motorValue); |
lweersink | 15:c2cfab737a4c | 111 | pc.printf("Proportional gain %f \r\n", Kp); |
lweersink | 15:c2cfab737a4c | 112 | pc.printf("Integral gain %f \r\n", Ki); |
lweersink | 17:4a0912c93771 | 113 | pc.printf("Derivative gain %f \r\n", Kd); |
lweersink | 14:29236a33b5e4 | 114 | } |
1856413 | 12:1ecd11dc2c00 | 115 | //----------------------------------------------------------------------------- |
1856413 | 0:2e33035d4e86 | 116 | int main() |
1856413 | 0:2e33035d4e86 | 117 | { |
1856413 | 12:1ecd11dc2c00 | 118 | //Initialize once |
1856413 | 6:bd73804c8cec | 119 | pc.baud(115200); |
1856413 | 13:0b51846cf9e3 | 120 | motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period: 16.7 kHz. |
1856413 | 12:1ecd11dc2c00 | 121 | MeasureControl.attach(MeasureAndControl, 0.01); |
lweersink | 14:29236a33b5e4 | 122 | print.attach(printen, 3); |
1856413 | 9:b002572e37fd | 123 | |
1856413 | 12:1ecd11dc2c00 | 124 | //Other initializations |
1856413 | 12:1ecd11dc2c00 | 125 | |
1856413 | 13:0b51846cf9e3 | 126 | while(true) |
nicollevanrijswijk | 11:4e3ef6150a2e | 127 | { |
nicollevanrijswijk | 11:4e3ef6150a2e | 128 | } |
nicollevanrijswijk | 11:4e3ef6150a2e | 129 | } |