Jorine Oosting
PID Control Version 1
Dependencies: MODSERIAL biquadFilter mbed
Revision 0:d2af5cdc35ff, committed 2018-10-30
- Comitter:
- JorineOosting
- Date:
- Tue Oct 30 09:16:27 2018 +0000
- Commit message:
- PID control Version1;
Changed in this revision
diff -r 000000000000 -r d2af5cdc35ff MODSERIAL.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Tue Oct 30 09:16:27 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/JorineOosting/code/MODSERIAL/#05131df90d24
diff -r 000000000000 -r d2af5cdc35ff biquadFilter.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/biquadFilter.lib Tue Oct 30 09:16:27 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tomlankhorst/code/biquadFilter/#26861979d305
diff -r 000000000000 -r d2af5cdc35ff main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Oct 30 09:16:27 2018 +0000
@@ -0,0 +1,63 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "BiQuad.h"
+
+//Gebaseerd op PES Lecture 5
+
+//void BiQuad::PIDF( double Kp, double Ki, double Kd, double N, double Ts ) {
+
+// double b0, b1, b2, bd, a1, a2;
+
+// a1 = -4.0/(N*Ts+2.0);
+// a2 = -(N*Ts-2.0)/(N*Ts+2.0);
+
+// bd = ( N*Ts+2.0 );
+
+// b0 = ( 4.0*Kp + 4.0*Kd*N + 2.0*Ki*Ts + 2.0*Kp*N*Ts + Ki*N*Ts*Ts )/(2.0*bd);
+// b1 = ( Ki*N*Ts*Ts - 4.0*Kp - 4.0*Kd*N )/bd;
+// b2 = ( 4.0*Kp + 4.0*Kd*N - 2*Ki*Ts - 2*Kp*N*Ts + Ki*N*Ts*Ts )/(2.0*bd);
+
+// set( b0, b1, b2, a1, a2 );
+
+//};
+
+ double Kp = 17.5; //Zelf variëren
+ double Ki = 1.02; //Zelf variëren
+ double Kd = 23.2; //Zelf variëren
+ double yref;
+ double y;
+ double error = yref-y;
+ double Ts = 0.0025; //Tijdstap van de Ticker
+
+int main()
+{
+
+ // double N
+ double PID_control(error); //Waarom is dit een variabele?
+ {
+ static double error_i =0;
+ static double error_prev = error;
+ static BiQuad LowPassFilter(0.6389 1.2779 0.6389 1.143 0.4128); //b0,b1,b2,a0,a1: coëfficiënten moeten berekend worden met butter in MATLAB.
+ //Coëfficiënten zijn afhankelijk van cutoff frequency en sampling frequency
+ //Proportional part:
+ double u_p = Kp*error;
+
+ //Integral part:
+ error_i = error_i + error*Ts; //Berekenen integraal error
+ double u_i = Ki*error_i;
+
+ //Derivative part:
+ double error_d = (error-error_prev)/Ts;
+ double f_error_d = LowPassFilter.step(error_d); //Filtered derivative error
+ double u_d = Kd*f_error_d;
+ error_prev = error;
+
+ //Sum all parts and return it
+ double u_tot = u_p + u_i + u_d; //Niet zeker of dit handig is
+ return u_tot;
+ }
+ // if loop toevoegen om de grenzen van de motor aan te geven
+ // grenswaarden voor de hoeken uitlezen mbv de encoder
+}
+
+
\ No newline at end of file
diff -r 000000000000 -r d2af5cdc35ff mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 30 09:16:27 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file