Ingmar Loohuis / Mbed 2 deprecated MotorControl

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Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

main.cpp@15:d38d5d4ae86a, 2016-10-25 (annotated)

Committer:
IngmarLoohuis
Date:
Tue Oct 25 13:15:14 2016 +0000
Revision:
15:d38d5d4ae86a
Parent:
14:6ecf2b986a4b
Child:
16:2083f634c91c
Child:
17:457dd9a70c7c
PIDT Controller, 2 motoren werkt niet perfect

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IngmarLoohuis 0:2f40eb89ffce 1 #include "mbed.h"
IngmarLoohuis 2:665df4abd084 2 #include "MODSERIAL.h"
IngmarLoohuis 0:2f40eb89ffce 3 #include "QEI.h"
IngmarLoohuis 0:2f40eb89ffce 4 #include "math.h"
IngmarLoohuis 12:0cf4e70f6b8e 5 #include "BiQuad.h"
IngmarLoohuis 11:eda4fbf91948 6 //#include "HIDScope.h"
IngmarLoohuis 6:6bc6ce1fe94e 7
IngmarLoohuis 6:6bc6ce1fe94e 8 //*****************Defining ports********************
IngmarLoohuis 2:665df4abd084 9 DigitalOut motor1DirectionPin (D4);
IngmarLoohuis 1:f26a53da33ed 10 PwmOut motor1MagnitudePin(D5);
IngmarLoohuis 15:d38d5d4ae86a 11 DigitalOut motor2DirectionPin (D6);
IngmarLoohuis 15:d38d5d4ae86a 12 PwmOut motor2MagnitudePin(D7);
IngmarLoohuis 15:d38d5d4ae86a 13 QEI encoder_m1(D12,D13,NC,32);
IngmarLoohuis 15:d38d5d4ae86a 14 QEI encoder_m2(D10,D11,NC,32);
IngmarLoohuis 15:d38d5d4ae86a 15 //HIDScope scope(2);
IngmarLoohuis 2:665df4abd084 16 DigitalIn button(D2);
IngmarLoohuis 1:f26a53da33ed 17 Serial pc(USBTX,USBRX);
IngmarLoohuis 6:6bc6ce1fe94e 18 //*******************Setting tickers and printers*******************
IngmarLoohuis 15:d38d5d4ae86a 19 Ticker angPos1;
IngmarLoohuis 6:6bc6ce1fe94e 20 Ticker t1;
IngmarLoohuis 7:742b1969f6c9 21 Ticker t2;
IngmarLoohuis 7:742b1969f6c9 22 Ticker t3;
IngmarLoohuis 15:d38d5d4ae86a 23 Ticker t4;
IngmarLoohuis 15:d38d5d4ae86a 24 Ticker t5;
IngmarLoohuis 15:d38d5d4ae86a 25 Ticker t6;
IngmarLoohuis 15:d38d5d4ae86a 26
IngmarLoohuis 15:d38d5d4ae86a 27
IngmarLoohuis 6:6bc6ce1fe94e 28 //**************Go flags********************************************
IngmarLoohuis 6:6bc6ce1fe94e 29 volatile bool fn1_go = false;
IngmarLoohuis 6:6bc6ce1fe94e 30 void fn1_activate(){ fn1_go = true; }; //Activates the go−flag
IngmarLoohuis 7:742b1969f6c9 31 volatile bool fn2_go = false;
IngmarLoohuis 7:742b1969f6c9 32 void fn2_activate(){ fn2_go = true; }; //Activates the go-flag
IngmarLoohuis 7:742b1969f6c9 33 volatile bool fn3_go = false;
IngmarLoohuis 7:742b1969f6c9 34 void fn3_activate(){ fn3_go = true; }; //Activates the go-flag
IngmarLoohuis 15:d38d5d4ae86a 35 volatile bool fn4_go = false;
IngmarLoohuis 15:d38d5d4ae86a 36 void fn4_activate(){ fn4_go = true; }; //Activates the go−flag
IngmarLoohuis 15:d38d5d4ae86a 37 volatile bool fn5_go = false;
IngmarLoohuis 15:d38d5d4ae86a 38 void fn5_activate(){ fn5_go = true; }; //Activates the go-flag
IngmarLoohuis 15:d38d5d4ae86a 39 volatile bool fn6_go = false;
IngmarLoohuis 15:d38d5d4ae86a 40 void fn6_activate(){ fn6_go = true; }; //Activates the go-flag
IngmarLoohuis 6:6bc6ce1fe94e 41 //***************Global Variables***********************************
IngmarLoohuis 6:6bc6ce1fe94e 42 const double pi = 3.14159265359;
IngmarLoohuis 15:d38d5d4ae86a 43 //const double transmissionShoulder =94.4/40.2;
IngmarLoohuis 15:d38d5d4ae86a 44 //const double transmissionElbow = 1.0;
IngmarLoohuis 12:0cf4e70f6b8e 45 // controller constants
IngmarLoohuis 13:f92e918af729 46 const double m1_Kp = 0.000048765659063912, m1_Ki = 0.0000228295351674407, m1_Kd = 0.0000255784613247063, m1_N = 54.5397025421619;
IngmarLoohuis 15:d38d5d4ae86a 47 const double m2_Kp = 0.000048765659063912, m2_Ki = 0.0000228295351674407, m2_Kd = 0.0000255784613247063, m2_N = 54.5397025421619;
IngmarLoohuis 15:d38d5d4ae86a 48 const double m1_Ts = 0.001; // Controller sample time motor 1
IngmarLoohuis 15:d38d5d4ae86a 49 const double m2_Ts = 0.001; // Controller sample time motor 2
IngmarLoohuis 15:d38d5d4ae86a 50 double m1_v1 = 0;
IngmarLoohuis 15:d38d5d4ae86a 51 double m1_v2 = 0;
IngmarLoohuis 15:d38d5d4ae86a 52 double m2_v1 = 0;
IngmarLoohuis 15:d38d5d4ae86a 53 double m2_v2 = 0;
IngmarLoohuis 12:0cf4e70f6b8e 54 // position variable
IngmarLoohuis 15:d38d5d4ae86a 55 volatile double radians_m1;
IngmarLoohuis 15:d38d5d4ae86a 56 volatile double radians_m2;
IngmarLoohuis 12:0cf4e70f6b8e 57 //plant variable
IngmarLoohuis 9:6a065971d0ae 58 volatile double motor1;
IngmarLoohuis 15:d38d5d4ae86a 59 volatile double motor2;
IngmarLoohuis 15:d38d5d4ae86a 60
IngmarLoohuis 12:0cf4e70f6b8e 61
IngmarLoohuis 12:0cf4e70f6b8e 62
IngmarLoohuis 6:6bc6ce1fe94e 63 //*****************Angles Arms***********************
IngmarLoohuis 1:f26a53da33ed 64
IngmarLoohuis 6:6bc6ce1fe94e 65 double O1=1.7633;
IngmarLoohuis 6:6bc6ce1fe94e 66 double O2=2.0915;
IngmarLoohuis 6:6bc6ce1fe94e 67 double O3=1.8685;
IngmarLoohuis 6:6bc6ce1fe94e 68 double O4=1.1363;
IngmarLoohuis 6:6bc6ce1fe94e 69 double O5=2.3960;
IngmarLoohuis 6:6bc6ce1fe94e 70 double O6=2.0827;
IngmarLoohuis 6:6bc6ce1fe94e 71 double B1=1.3551;
IngmarLoohuis 6:6bc6ce1fe94e 72 double B2=0.5964;
IngmarLoohuis 6:6bc6ce1fe94e 73 double B3=0.06652;
IngmarLoohuis 6:6bc6ce1fe94e 74 double B4=0.0669;
IngmarLoohuis 6:6bc6ce1fe94e 75 double B5=1.7462;
IngmarLoohuis 6:6bc6ce1fe94e 76 double B6=-0.8994;
IngmarLoohuis 5:931594a366b7 77
IngmarLoohuis 6:6bc6ce1fe94e 78 //**********functions******************************
IngmarLoohuis 12:0cf4e70f6b8e 79 double PID( double err, const double Kp, const double Ki, const double Kd,
IngmarLoohuis 12:0cf4e70f6b8e 80 const double Ts, const double N, double &v1, double &v2 ) {
IngmarLoohuis 12:0cf4e70f6b8e 81 // These variables are only calculated once!
IngmarLoohuis 12:0cf4e70f6b8e 82 const double a1 = (-4.0/(N*Ts+2));
IngmarLoohuis 12:0cf4e70f6b8e 83 const double a2 = -(N*Ts-2)/(N*Ts+2);
IngmarLoohuis 12:0cf4e70f6b8e 84 const double b0 = (4.0*Kp + 4*Kd*N + 2*Ki*Ts + 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4);
IngmarLoohuis 12:0cf4e70f6b8e 85 const double b1 = (Ki*N*pow(Ts,2) - 4.0*Kp - 4.0*Kd*N)/(N*Ts + 2.0);
IngmarLoohuis 12:0cf4e70f6b8e 86 const double b2 = (4*Kp + 4*Kd*N - 2*Ki*Ts - 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4);
IngmarLoohuis 12:0cf4e70f6b8e 87
IngmarLoohuis 12:0cf4e70f6b8e 88 double v = err - a1*v1 - a2*v2;
IngmarLoohuis 14:6ecf2b986a4b 89 double u = b0*v + b1*v1 + b2*v2;
IngmarLoohuis 12:0cf4e70f6b8e 90 v2 = v1; v1 = v;
IngmarLoohuis 12:0cf4e70f6b8e 91 return u;
IngmarLoohuis 12:0cf4e70f6b8e 92 }
IngmarLoohuis 12:0cf4e70f6b8e 93
IngmarLoohuis 9:6a065971d0ae 94
IngmarLoohuis 15:d38d5d4ae86a 95 void getAngPosition_m1() //Get angular position motor 1
IngmarLoohuis 6:6bc6ce1fe94e 96 {
IngmarLoohuis 15:d38d5d4ae86a 97 volatile int pulses_m1 = encoder_m1.getPulses();
IngmarLoohuis 15:d38d5d4ae86a 98 radians_m1 = (pulses_m1 / (1 * 3591.84)) * 2*pi; //2 = encoding type, 3591.84 = counts per revoluton for the two big motors
IngmarLoohuis 15:d38d5d4ae86a 99 }
IngmarLoohuis 13:f92e918af729 100
IngmarLoohuis 15:d38d5d4ae86a 101 void getAngPosition_m2() //Get angular position motor 2
IngmarLoohuis 15:d38d5d4ae86a 102 {
IngmarLoohuis 15:d38d5d4ae86a 103 volatile int pulses_m2 = encoder_m2.getPulses();
IngmarLoohuis 15:d38d5d4ae86a 104 radians_m2 = (pulses_m2 / (1 * 3591.84)) * 2*pi; //2 = encoding type, 3591.84 = counts per revoluton for the two big motors
IngmarLoohuis 6:6bc6ce1fe94e 105 }
IngmarLoohuis 6:6bc6ce1fe94e 106
IngmarLoohuis 7:742b1969f6c9 107 // Next task, measure the error and apply the output to the plant
IngmarLoohuis 15:d38d5d4ae86a 108 void motor1_Controller(double radians_m1)
IngmarLoohuis 7:742b1969f6c9 109 {
IngmarLoohuis 15:d38d5d4ae86a 110 double reference_m1 = 1.0*pi;
IngmarLoohuis 15:d38d5d4ae86a 111 volatile double error_m1 = reference_m1 - radians_m1;
IngmarLoohuis 15:d38d5d4ae86a 112 motor1 = PID( error_m1,m1_Kp,m1_Ki,m1_Kd,m1_Ts, m1_N, m1_v1, m1_v2 );
IngmarLoohuis 15:d38d5d4ae86a 113 }
IngmarLoohuis 15:d38d5d4ae86a 114
IngmarLoohuis 15:d38d5d4ae86a 115 // Next task, measure the error and apply the output to the plant
IngmarLoohuis 15:d38d5d4ae86a 116 void motor2_Controller(double radians_m2)
IngmarLoohuis 15:d38d5d4ae86a 117 {
IngmarLoohuis 15:d38d5d4ae86a 118 double reference_m2 = -1/2*pi;
IngmarLoohuis 15:d38d5d4ae86a 119 volatile double error_m2 = reference_m2 - radians_m2;
IngmarLoohuis 15:d38d5d4ae86a 120 motor2 = PID( error_m2,m2_Kp,m2_Ki,m2_Kd,m2_Ts, m2_N, m2_v1, m2_v2 );
IngmarLoohuis 15:d38d5d4ae86a 121
IngmarLoohuis 7:742b1969f6c9 122 }
IngmarLoohuis 7:742b1969f6c9 123
IngmarLoohuis 7:742b1969f6c9 124
IngmarLoohuis 15:d38d5d4ae86a 125
IngmarLoohuis 15:d38d5d4ae86a 126 void control_m1(double motor1)
IngmarLoohuis 4:30d8610b63a6 127 {
IngmarLoohuis 14:6ecf2b986a4b 128 if(abs(motor1)>0.000005)
IngmarLoohuis 2:665df4abd084 129 {
IngmarLoohuis 9:6a065971d0ae 130 motor1MagnitudePin=0.5;//MOET NOG TUSSENWAAREN KRIJGEN
IngmarLoohuis 2:665df4abd084 131 }
IngmarLoohuis 9:6a065971d0ae 132 else
IngmarLoohuis 2:665df4abd084 133 {
IngmarLoohuis 6:6bc6ce1fe94e 134 motor1MagnitudePin=0.0;
IngmarLoohuis 2:665df4abd084 135 }
IngmarLoohuis 9:6a065971d0ae 136 if(motor1<=0)
IngmarLoohuis 9:6a065971d0ae 137 {
IngmarLoohuis 9:6a065971d0ae 138 motor1DirectionPin=0.0;
IngmarLoohuis 9:6a065971d0ae 139 }
IngmarLoohuis 9:6a065971d0ae 140 else {
IngmarLoohuis 9:6a065971d0ae 141 motor1DirectionPin=1.0;
IngmarLoohuis 9:6a065971d0ae 142 }
IngmarLoohuis 0:2f40eb89ffce 143 }
IngmarLoohuis 7:742b1969f6c9 144
IngmarLoohuis 15:d38d5d4ae86a 145 void control_m2(double motor2)
IngmarLoohuis 15:d38d5d4ae86a 146 {
IngmarLoohuis 15:d38d5d4ae86a 147 if(abs(motor2)>0.000005)
IngmarLoohuis 15:d38d5d4ae86a 148 {
IngmarLoohuis 15:d38d5d4ae86a 149 motor2MagnitudePin=0.5;//MOET NOG TUSSENWAAREN KRIJGEN
IngmarLoohuis 15:d38d5d4ae86a 150 }
IngmarLoohuis 15:d38d5d4ae86a 151 else
IngmarLoohuis 15:d38d5d4ae86a 152 {
IngmarLoohuis 15:d38d5d4ae86a 153 motor2MagnitudePin=0.0;
IngmarLoohuis 15:d38d5d4ae86a 154 }
IngmarLoohuis 15:d38d5d4ae86a 155 if(motor2<=0)
IngmarLoohuis 15:d38d5d4ae86a 156 {
IngmarLoohuis 15:d38d5d4ae86a 157 motor2DirectionPin=1.0;
IngmarLoohuis 15:d38d5d4ae86a 158 }
IngmarLoohuis 15:d38d5d4ae86a 159 else {
IngmarLoohuis 15:d38d5d4ae86a 160 motor2DirectionPin=0.0;
IngmarLoohuis 15:d38d5d4ae86a 161 }
IngmarLoohuis 15:d38d5d4ae86a 162 }
IngmarLoohuis 15:d38d5d4ae86a 163
IngmarLoohuis 6:6bc6ce1fe94e 164 //****************MAIN FUNCTION*********************************
IngmarLoohuis 0:2f40eb89ffce 165 int main()
IngmarLoohuis 15:d38d5d4ae86a 166 {
IngmarLoohuis 15:d38d5d4ae86a 167 motor1MagnitudePin.period(1.0/1000.0);
IngmarLoohuis 15:d38d5d4ae86a 168 motor2MagnitudePin.period(1.0/1000.0);
IngmarLoohuis 13:f92e918af729 169 t1.attach(&fn1_activate, 0.0001f);
IngmarLoohuis 7:742b1969f6c9 170 t2.attach(&fn2_activate, 0.0001f);
IngmarLoohuis 7:742b1969f6c9 171 t3.attach(&fn3_activate, 0.0001f);
IngmarLoohuis 15:d38d5d4ae86a 172 t4.attach(&fn4_activate, 0.0001f);
IngmarLoohuis 15:d38d5d4ae86a 173 t5.attach(&fn5_activate, 0.0001f);
IngmarLoohuis 15:d38d5d4ae86a 174 t6.attach(&fn6_activate, 0.0001f);
IngmarLoohuis 11:eda4fbf91948 175 pc.baud(115200);
IngmarLoohuis 10:54b66bd1db20 176 while(true)
IngmarLoohuis 10:54b66bd1db20 177 {
IngmarLoohuis 6:6bc6ce1fe94e 178 if(fn1_go)
IngmarLoohuis 6:6bc6ce1fe94e 179 {
IngmarLoohuis 6:6bc6ce1fe94e 180 fn1_go = false;
IngmarLoohuis 15:d38d5d4ae86a 181 control_m1(motor1);
IngmarLoohuis 6:6bc6ce1fe94e 182 }
IngmarLoohuis 7:742b1969f6c9 183 if(fn2_go)
IngmarLoohuis 7:742b1969f6c9 184 {
IngmarLoohuis 7:742b1969f6c9 185 fn2_go = false;
IngmarLoohuis 15:d38d5d4ae86a 186 motor1_Controller(radians_m1);
IngmarLoohuis 7:742b1969f6c9 187 }
IngmarLoohuis 7:742b1969f6c9 188 if(fn3_go)
IngmarLoohuis 7:742b1969f6c9 189 {
IngmarLoohuis 7:742b1969f6c9 190 fn3_go = false;
IngmarLoohuis 15:d38d5d4ae86a 191 getAngPosition_m1();
IngmarLoohuis 15:d38d5d4ae86a 192 }
IngmarLoohuis 15:d38d5d4ae86a 193 if(fn4_go)
IngmarLoohuis 15:d38d5d4ae86a 194 {
IngmarLoohuis 15:d38d5d4ae86a 195 fn4_go = false;
IngmarLoohuis 15:d38d5d4ae86a 196 control_m2(motor2);
IngmarLoohuis 7:742b1969f6c9 197 }
IngmarLoohuis 15:d38d5d4ae86a 198 if(fn5_go)
IngmarLoohuis 15:d38d5d4ae86a 199 {
IngmarLoohuis 15:d38d5d4ae86a 200 fn5_go = false;
IngmarLoohuis 15:d38d5d4ae86a 201 motor2_Controller(radians_m2);
IngmarLoohuis 15:d38d5d4ae86a 202 }
IngmarLoohuis 15:d38d5d4ae86a 203 if(fn6_go)
IngmarLoohuis 15:d38d5d4ae86a 204 {
IngmarLoohuis 15:d38d5d4ae86a 205 fn6_go = false;
IngmarLoohuis 15:d38d5d4ae86a 206 getAngPosition_m2();
IngmarLoohuis 15:d38d5d4ae86a 207 }
IngmarLoohuis 15:d38d5d4ae86a 208
IngmarLoohuis 7:742b1969f6c9 209 }
IngmarLoohuis 2:665df4abd084 210 }