Using HIDScope for P(I)D controller
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
Fork of PES_tutorial_5 by
main.cpp@18:e522dfbab4c6, 2018-10-19 (annotated)
- Committer:
- 1856413
- Date:
- Fri Oct 19 14:18:38 2018 +0000
- Revision:
- 18:e522dfbab4c6
- Parent:
- 17:4a0912c93771
Layout opgefrist, niets aan de code veranderd.
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 | 18:e522dfbab4c6 | 6 | |
1856413 | 18:e522dfbab4c6 | 7 | // Defining input and output pins |
1856413 | 2:34c14fb36b5d | 8 | MODSERIAL pc(USBTX, USBRX); |
1856413 | 13:0b51846cf9e3 | 9 | DigitalOut motor1DirectionPin(D7); |
1856413 | 13:0b51846cf9e3 | 10 | FastPWM motor1MagnitudePin(D6); |
1856413 | 8:ceb9abb5a4a8 | 11 | AnalogIn potMeter1(A4); |
1856413 | 12:1ecd11dc2c00 | 12 | AnalogIn potMeter2(A5); |
1856413 | 8:ceb9abb5a4a8 | 13 | InterruptIn button2(D3); |
1856413 | 9:b002572e37fd | 14 | QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING); |
1856413 | 12:1ecd11dc2c00 | 15 | |
1856413 | 12:1ecd11dc2c00 | 16 | //Tickers |
1856413 | 12:1ecd11dc2c00 | 17 | Ticker MeasureControl; |
lweersink | 14:29236a33b5e4 | 18 | Ticker print; |
1856413 | 9:b002572e37fd | 19 | |
1856413 | 9:b002572e37fd | 20 | //Global variables |
1856413 | 18:e522dfbab4c6 | 21 | // Measure |
1856413 | 12:1ecd11dc2c00 | 22 | volatile double measuredPosition = 0.0; |
1856413 | 12:1ecd11dc2c00 | 23 | volatile double referencePosition = 0.0; |
1856413 | 18:e522dfbab4c6 | 24 | volatile double motorValue= 0.00; |
1856413 | 18:e522dfbab4c6 | 25 | // Control |
1856413 | 18:e522dfbab4c6 | 26 | volatile double Kp = 0.0; // Proportional gain. Dit maken we variabel, dit zorgt voor een grote of kleine overshoot |
1856413 | 18:e522dfbab4c6 | 27 | volatile double Ki = 0.0; // Integral gain. Dit moeten we bepalen met een plot bijvoorbeeld |
1856413 | 18:e522dfbab4c6 | 28 | volatile double Kd = 0.0; // Diverential gain. |
1856413 | 18:e522dfbab4c6 | 29 | volatile double Ts = 0.01; // Sample time in FeedbackControl |
nicollevanrijswijk | 5:a1fb2d2fb2d0 | 30 | |
1856413 | 13:0b51846cf9e3 | 31 | //------------------------------------------------------------------------------ |
1856413 | 13:0b51846cf9e3 | 32 | // Functions |
1856413 | 12:1ecd11dc2c00 | 33 | |
1856413 | 12:1ecd11dc2c00 | 34 | double GetReferencePosition() |
1856413 | 12:1ecd11dc2c00 | 35 | { |
1856413 | 12:1ecd11dc2c00 | 36 | double potMeterIn = potMeter1.read(); |
lweersink | 14:29236a33b5e4 | 37 | 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 | 38 | return referencePosition; |
1856413 | 0:2e33035d4e86 | 39 | } |
nicollevanrijswijk | 11:4e3ef6150a2e | 40 | |
1856413 | 13:0b51846cf9e3 | 41 | double GetMeasuredPosition() |
nicollevanrijswijk | 11:4e3ef6150a2e | 42 | { |
nicollevanrijswijk | 11:4e3ef6150a2e | 43 | double counts = Encoder.getPulses(); |
lweersink | 14:29236a33b5e4 | 44 | measuredPosition = ( counts / (8400)) * 6.28; // Rotational position in radians |
1856413 | 13:0b51846cf9e3 | 45 | return measuredPosition; |
nicollevanrijswijk | 11:4e3ef6150a2e | 46 | } |
nicollevanrijswijk | 11:4e3ef6150a2e | 47 | |
lweersink | 14:29236a33b5e4 | 48 | double FeedbackControl(double Error) |
lweersink | 14:29236a33b5e4 | 49 | { |
1856413 | 18:e522dfbab4c6 | 50 | static double Error_integral = 0.0; |
lweersink | 17:4a0912c93771 | 51 | static double Error_prev = Error; |
1856413 | 18:e522dfbab4c6 | 52 | /*static BiQuad LowPassFilter(..., ..., ..., ..., ...); */ |
1856413 | 18:e522dfbab4c6 | 53 | |
1856413 | 18:e522dfbab4c6 | 54 | // Read potmeter |
1856413 | 18:e522dfbab4c6 | 55 | Kd = 20*potMeter2.read(); |
1856413 | 18:e522dfbab4c6 | 56 | |
lweersink | 14:29236a33b5e4 | 57 | // Proportional part: |
1856413 | 18:e522dfbab4c6 | 58 | // van 0 tot 20, waardes rond de 5 zijn het beste (minder overshoot + minder |
1856413 | 18:e522dfbab4c6 | 59 | // trilling motor beste combinatie hiervan) |
1856413 | 12:1ecd11dc2c00 | 60 | double u_k = Kp * Error; |
1856413 | 18:e522dfbab4c6 | 61 | |
lweersink | 15:c2cfab737a4c | 62 | // Integral part: |
lweersink | 15:c2cfab737a4c | 63 | Error_integral = Error_integral + Error * Ts; |
lweersink | 15:c2cfab737a4c | 64 | double u_i = Ki * Error_integral; |
1856413 | 18:e522dfbab4c6 | 65 | |
1856413 | 18:e522dfbab4c6 | 66 | // Derivative part: |
lweersink | 17:4a0912c93771 | 67 | double Error_derivative = (Error - Error_prev)/Ts; |
lweersink | 17:4a0912c93771 | 68 | double u_d = Kd * Error_derivative; |
1856413 | 18:e522dfbab4c6 | 69 | /* Filtered_Error_derivative = LowPassFilter(Error_derivative); |
1856413 | 18:e522dfbab4c6 | 70 | double u_d = Kd * Filtered_Error_derivative; */ |
lweersink | 17:4a0912c93771 | 71 | Error_prev = Error; |
1856413 | 18:e522dfbab4c6 | 72 | |
lweersink | 14:29236a33b5e4 | 73 | // Sum all parts and return it |
lweersink | 17:4a0912c93771 | 74 | return u_k + u_i + u_d; //motorValue |
1856413 | 12:1ecd11dc2c00 | 75 | } |
1856413 | 12:1ecd11dc2c00 | 76 | |
1856413 | 12:1ecd11dc2c00 | 77 | void SetMotor1(double motorValue) |
1856413 | 12:1ecd11dc2c00 | 78 | { |
1856413 | 12:1ecd11dc2c00 | 79 | // Given -1<=motorValue<=1, this sets the PWM and direction |
1856413 | 12:1ecd11dc2c00 | 80 | // bits for motor 1. Positive value makes motor rotating |
1856413 | 12:1ecd11dc2c00 | 81 | // clockwise. motorValues outside range are truncated to |
1856413 | 12:1ecd11dc2c00 | 82 | // within range |
lweersink | 14:29236a33b5e4 | 83 | if (motorValue >=0) |
1856413 | 12:1ecd11dc2c00 | 84 | { |
1856413 | 12:1ecd11dc2c00 | 85 | motor1DirectionPin=1; |
1856413 | 12:1ecd11dc2c00 | 86 | } |
1856413 | 12:1ecd11dc2c00 | 87 | else |
1856413 | 12:1ecd11dc2c00 | 88 | { |
1856413 | 12:1ecd11dc2c00 | 89 | motor1DirectionPin=0; |
1856413 | 12:1ecd11dc2c00 | 90 | } |
lweersink | 14:29236a33b5e4 | 91 | if (fabs(motorValue)>1) |
1856413 | 12:1ecd11dc2c00 | 92 | { |
1856413 | 12:1ecd11dc2c00 | 93 | motor1MagnitudePin = 1; |
1856413 | 12:1ecd11dc2c00 | 94 | } |
1856413 | 12:1ecd11dc2c00 | 95 | else |
1856413 | 12:1ecd11dc2c00 | 96 | { |
1856413 | 12:1ecd11dc2c00 | 97 | motor1MagnitudePin = fabs(motorValue); |
1856413 | 12:1ecd11dc2c00 | 98 | } |
1856413 | 12:1ecd11dc2c00 | 99 | } |
1856413 | 12:1ecd11dc2c00 | 100 | //----------------------------------------------------------------------------- |
lweersink | 14:29236a33b5e4 | 101 | // Tickers |
1856413 | 12:1ecd11dc2c00 | 102 | void MeasureAndControl(void) |
1856413 | 12:1ecd11dc2c00 | 103 | { |
lweersink | 14:29236a33b5e4 | 104 | // This function determines the desired velocity, measures the |
1856413 | 12:1ecd11dc2c00 | 105 | // actual velocity, and controls the motor with |
1856413 | 12:1ecd11dc2c00 | 106 | // a simple Feedback controller. Call this from a Ticker. |
lweersink | 14:29236a33b5e4 | 107 | referencePosition = GetReferencePosition(); |
lweersink | 14:29236a33b5e4 | 108 | measuredPosition = GetMeasuredPosition(); |
lweersink | 14:29236a33b5e4 | 109 | motorValue = FeedbackControl(referencePosition - measuredPosition); |
1856413 | 12:1ecd11dc2c00 | 110 | SetMotor1(motorValue); |
1856413 | 13:0b51846cf9e3 | 111 | } |
1856413 | 12:1ecd11dc2c00 | 112 | |
lweersink | 14:29236a33b5e4 | 113 | void printen() |
lweersink | 14:29236a33b5e4 | 114 | { |
lweersink | 14:29236a33b5e4 | 115 | pc.baud (115200); |
lweersink | 14:29236a33b5e4 | 116 | pc.printf("Referenceposition %f \r\n", referencePosition); |
lweersink | 14:29236a33b5e4 | 117 | pc.printf("Measured position %f \r\n", measuredPosition); |
lweersink | 15:c2cfab737a4c | 118 | pc.printf("Motorvalue/Error %f \r\n", motorValue); |
lweersink | 15:c2cfab737a4c | 119 | pc.printf("Proportional gain %f \r\n", Kp); |
lweersink | 15:c2cfab737a4c | 120 | pc.printf("Integral gain %f \r\n", Ki); |
lweersink | 17:4a0912c93771 | 121 | pc.printf("Derivative gain %f \r\n", Kd); |
lweersink | 14:29236a33b5e4 | 122 | } |
1856413 | 12:1ecd11dc2c00 | 123 | //----------------------------------------------------------------------------- |
1856413 | 0:2e33035d4e86 | 124 | int main() |
1856413 | 0:2e33035d4e86 | 125 | { |
1856413 | 12:1ecd11dc2c00 | 126 | //Initialize once |
1856413 | 6:bd73804c8cec | 127 | pc.baud(115200); |
1856413 | 13:0b51846cf9e3 | 128 | motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period: 16.7 kHz. |
1856413 | 12:1ecd11dc2c00 | 129 | MeasureControl.attach(MeasureAndControl, 0.01); |
lweersink | 14:29236a33b5e4 | 130 | print.attach(printen, 3); |
1856413 | 9:b002572e37fd | 131 | |
1856413 | 12:1ecd11dc2c00 | 132 | //Other initializations |
1856413 | 12:1ecd11dc2c00 | 133 | |
1856413 | 18:e522dfbab4c6 | 134 | while(true) { } |
nicollevanrijswijk | 11:4e3ef6150a2e | 135 | } |