Giovani Cardona
Controlador PID Digital para una planta de Primer Orden RC, con comunicación serial para ingreso de parámetros del controlador y actualización de las variables del sistema.
Revision 0:87552d9a8512, committed 2019-06-12
- Comitter:
- Giovani_Cardona
- Date:
- Wed Jun 12 20:06:42 2019 +0000
- Commit message:
- -
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 87552d9a8512 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jun 12 20:06:42 2019 +0000
@@ -0,0 +1,172 @@
+#include "mbed.h"
+#include "string.h"
+
+AnalogIn y(PTB3);//entrada analoga
+AnalogOut u(PTE30);//salida analoga OJO solo se le pueden drenar 1.5mA en circuitos use un Buffer
+//si se ignora esto se arruina la FRDMKL25Z
+Serial pc(USBTX, USBRX, "pc");
+Serial HC06(PTE0,PTE1);
+
+char buffer[128];
+int readptr = 0;
+int Kp, Ki, Kd, Sp;
+float pid,o,ai,ad,ap,med,err;
+float err_v;
+int checker1, checker2, checker3, checker4;
+
+int main(){
+ char c;
+
+// Bluetooth
+ HC06.baud(9600);
+ HC06.printf("CONTROLADOR PID BLUETOOTH\n");
+
+// Interfaz para el pc
+ pc.printf("***********************************************\n");
+ pc.printf("CONTROLADOR PID \n");
+ pc.printf("***********************************************\n");
+ pc.printf("* Menu para los parametros del controlador PID: \n\n");
+ pc.printf("* Kp - Ingresar valor de la consotante proporcional \n");
+ pc.printf("* Ki - Ingresar valor de la consotante integral \n");
+ pc.printf("* Kd - Ingresar valor de la consotante derivativa \n");
+ pc.printf("* Sp - Ingresar valor del Set-Point \n\n");
+
+ while(1){
+
+ // Analizamos lo que ingresa el usuario
+ while( (c = pc.getc()) != '\n') {
+ buffer[readptr++] = c;
+ }
+ buffer[readptr++] = 0;
+
+ //pc.printf("buffer= %s\n\r ",buffer); //imprime el bufer
+ //pc.printf("buffer= %c %c\n\r ",buffer[0],buffer[1]);//imprime el cero y el uno
+
+ //////////////////////////////////////////
+
+ if (strncmp(buffer, "Kp", 2) == 0) {
+ //Se lee el valor para Kp
+ pc.printf("Ingrese el valor para Kp: ");
+ pc.scanf("%d", &Kp);
+ checker1=1;
+ }
+ else if (strncmp(buffer, "Ki", 2) == 0) {
+ //Se lee el valor para Ki
+ pc.printf("Ingrese el valor para Ki: ");
+ pc.scanf("%d", &Ki);
+ checker2=1;
+ }
+ else if (strncmp(buffer, "Kd", 2) == 0) {
+ //Se lee el valor para Kd
+ pc.printf("Ingrese el valor para Kd: ");
+ pc.scanf("%d", &Kd);
+ checker3=1;
+ }
+ else if (strncmp(buffer, "Sp", 2) == 0) {
+ //Se lee el valor para Sp
+ pc.printf("Ingrese el valor para Sp: ");
+ pc.scanf("%d", &Sp);
+ if(Sp<=0){Sp=0;}
+ if(Sp > 999){Sp=999;}
+ checker4=1;
+ }
+ else {
+ pc.printf("Syntax error \n");
+ }
+ readptr = 0;
+
+ if (checker1 == 1 && checker2 == 1 && checker3 == 1 && checker4 == 1 ){
+ pc.printf("Parametros listos para iniciar \n");
+ pc.printf("*************************************\n");
+ pc.printf("Iniciar ahora (Si/No) \n");
+
+ //Se lee la elección del usuario
+ while(1){
+ while( (c = pc.getc()) != '\n') {
+ buffer[readptr++] = c;
+ }
+ buffer[readptr++] = 0;
+
+ if (strncmp(buffer, "Si", 2) == 0){
+ pc.printf("* Ingrese 'P' si desea cambiar el Set Ponit \n\n");
+ pc.printf("Iniciando... \n\n");
+ wait_ms(1000);
+ break;
+ }
+ else{
+ pc.printf("Iniciar ahora (Si/No) \n");
+ }
+ readptr = 0;
+ }
+ break;
+ }else{
+ pc.printf("*************************************\n");
+ pc.printf("Ingrese los valores restantes \n");
+ pc.printf("*************************************\n");
+ }
+ pc.printf("\n");
+ }
+
+ // CICLO PRINCIPAL CONTROLADOR PID
+
+ lop1:
+ med = y.read()*999;
+ err = (Sp-med); //se calcula el error
+ ap = Kp*err*0.01f; //se calcula la accion proporcinal
+ ai =(Ki*err*0.01f)+ai; //calculo de la integral del error
+ ad = Kd*(err-err_v)*0.01f; //calculo de la accion derivativa
+ pid = (ap+ai+ad);
+ // se verifica que pid sea positivo **************************************
+ if(pid<=0)
+ {
+ pid=0;
+ }
+
+ // se verifica que pid sea menor o igual al valor maximo *****************
+ if (pid > 999)
+ {
+ pid=999;
+ }
+
+ //Normalizacion de la salida
+ // se actualizan las variables *******************************************
+ err_v = err;
+ o = pid/999;
+ u.write(o); // se envia el valor pid a puerto analogico de salida (D/A) **************
+
+ pc.printf("SetPoint\tEntrada\t\tError\t\tSalida\n");
+ pc.printf("%d\t\t%0.2f\t\t%0.2f\t\t%0.2f\n",Sp,med,err,pid);
+ pc.printf("%0.2fV\t\t%0.2fV\t\t%0.2fV\t\t%0.2fV\n\n",((Sp*3.3)/1000),((med*3.3)/1000),((err*3.3)/1000),((pid*3.3)/1000));
+
+ HC06.printf("SetPoint: %d %0.2fV\n\r",Sp,((Sp*3.3)/1000));
+ HC06.printf("Entrada: %0.2f %0.2fV\n\r",med,((med*3.3)/1000));
+ HC06.printf("Error: %0.2f %0.2fV\n\r",err,((err*3.3)/1000));
+ HC06.printf("Salida: %0.2f %0.2fV\n\r",pid,((pid*3.3)/1000));
+ HC06.printf("\n\r");
+
+ ////-----------------------Nuevo Setpoint-------------------------------------------
+ if(pc.readable()){
+ if ((c = pc.getc()) == 'P') {
+ buffer[readptr++] = c;
+ }
+ buffer[readptr++] = 0;
+ //pc.printf("buffer= %s\n\r ",buffer); //imprime el bufer
+ //pc.printf("buffer= %c %c\n\r ",buffer[0],buffer[1]);//imprime el cero y el uno
+ }
+ if (strncmp(buffer, "P", 1) == 0){
+ buffer[0]='\0';
+ pc.printf("* Ingrese el nuevo SetPoint: ");
+ pc.scanf("%d", &Sp);
+ if(Sp<=0){Sp=0;}
+ if(Sp > 999){Sp=999;}
+ pc.printf("Iniciando... \n\n");
+ wait_ms(1000);
+ }
+
+ readptr = 0;
+ /////------------------------------------------------------------------
+
+ // se repite el ciclo
+ wait_ms(500);
+ goto lop1;
+}
\ No newline at end of file
diff -r 000000000000 -r 87552d9a8512 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jun 12 20:06:42 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file