Jorn-Jan van de Beld
/
PI_standaardsignalen
kom op
main.cpp@0:921402a95675, 2017-11-01 (annotated)
- Committer:
- JornJan
- Date:
- Wed Nov 01 16:16:04 2017 +0000
- Revision:
- 0:921402a95675
- Child:
- 1:7969189824ff
PID_standaardsignalen;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JornJan | 0:921402a95675 | 1 | #include "mbed.h" |
JornJan | 0:921402a95675 | 2 | #include "Serial.h" |
JornJan | 0:921402a95675 | 3 | #include "math.h" |
JornJan | 0:921402a95675 | 4 | #include "QEI.h" |
JornJan | 0:921402a95675 | 5 | |
JornJan | 0:921402a95675 | 6 | Serial pc(USBTX, USBRX); //Serial PC connectie |
JornJan | 0:921402a95675 | 7 | DigitalOut motor1DirectionPin(D4); //Motorrichting op D4 (connected op het bord) |
JornJan | 0:921402a95675 | 8 | PwmOut motor1MagnitudePin(D5); //Motorkracht op D5 (connected op het bord) |
JornJan | 0:921402a95675 | 9 | DigitalOut motor2DirectionPin(D7); //Motorrichting op D4 (connected op het bord) |
JornJan | 0:921402a95675 | 10 | PwmOut motor2MagnitudePin(D6); //Motorkracht op D5 (connected op het bord) |
JornJan | 0:921402a95675 | 11 | QEI q1_enc(D13, D12, NC, 32); //encoder motor 1 instellen |
JornJan | 0:921402a95675 | 12 | QEI q2_enc(D11, D10, NC, 32); // encoder motor 2 instellen |
JornJan | 0:921402a95675 | 13 | const double pi = 3.1415926535897; // waarde voor pi aanmaken |
JornJan | 0:921402a95675 | 14 | |
JornJan | 0:921402a95675 | 15 | Timer t; |
JornJan | 0:921402a95675 | 16 | Ticker aansturing; |
JornJan | 0:921402a95675 | 17 | Ticker stepres; |
JornJan | 0:921402a95675 | 18 | |
JornJan | 0:921402a95675 | 19 | double ref1 = 0; |
JornJan | 0:921402a95675 | 20 | double refrad1; |
JornJan | 0:921402a95675 | 21 | double refrad2; |
JornJan | 0:921402a95675 | 22 | double ref2 = 0; |
JornJan | 0:921402a95675 | 23 | double Kp1 = 0.002; //kp motor 2 = 0.0001 |
JornJan | 0:921402a95675 | 24 | double Ki1 = 0; |
JornJan | 0:921402a95675 | 25 | double Kp2 = 0.0001; |
JornJan | 0:921402a95675 | 26 | double Ki2 = 0; |
JornJan | 0:921402a95675 | 27 | int q1_puls; |
JornJan | 0:921402a95675 | 28 | int q2_puls; |
JornJan | 0:921402a95675 | 29 | double rad2pulses=4200/(2*pi); |
JornJan | 0:921402a95675 | 30 | double ts = 0.001; |
JornJan | 0:921402a95675 | 31 | double PI1; |
JornJan | 0:921402a95675 | 32 | int n; |
JornJan | 0:921402a95675 | 33 | |
JornJan | 0:921402a95675 | 34 | double error1_1; |
JornJan | 0:921402a95675 | 35 | double error2_1 = 0; |
JornJan | 0:921402a95675 | 36 | double error_I_1; |
JornJan | 0:921402a95675 | 37 | double error_I2_1 = 0; |
JornJan | 0:921402a95675 | 38 | double error1_2; |
JornJan | 0:921402a95675 | 39 | double error2_2 = 0; |
JornJan | 0:921402a95675 | 40 | double error_I_2; |
JornJan | 0:921402a95675 | 41 | double error_I2_2 = 0; |
JornJan | 0:921402a95675 | 42 | double PI2; |
JornJan | 0:921402a95675 | 43 | |
JornJan | 0:921402a95675 | 44 | void controller() |
JornJan | 0:921402a95675 | 45 | { |
JornJan | 0:921402a95675 | 46 | refrad2 = 1.57f*sin(t.read()); //motor 2 |
JornJan | 0:921402a95675 | 47 | ref2 = refrad2 * rad2pulses; |
JornJan | 0:921402a95675 | 48 | refrad1 = -0.6f*cos(t.read()) + 0.2f; //motor 1 |
JornJan | 0:921402a95675 | 49 | ref1 = refrad2 * rad2pulses; |
JornJan | 0:921402a95675 | 50 | |
JornJan | 0:921402a95675 | 51 | // encoders uitlezen |
JornJan | 0:921402a95675 | 52 | q1_puls = q1_enc.getPulses(); |
JornJan | 0:921402a95675 | 53 | q2_puls = q2_enc.getPulses(); |
JornJan | 0:921402a95675 | 54 | |
JornJan | 0:921402a95675 | 55 | //PID 1 |
JornJan | 0:921402a95675 | 56 | error1_1 = ref1 - q1_puls; |
JornJan | 0:921402a95675 | 57 | error_I_1 = error_I2_1 + ts*((error1_1 + error2_1)/2); |
JornJan | 0:921402a95675 | 58 | |
JornJan | 0:921402a95675 | 59 | PI1 = Kp1*error1_1 + Ki1*error_I_1; |
JornJan | 0:921402a95675 | 60 | |
JornJan | 0:921402a95675 | 61 | error2_1 = error1_1; // opslaan variabelen voor integraal onderdeel |
JornJan | 0:921402a95675 | 62 | error_I2_1 = error_I_1; |
JornJan | 0:921402a95675 | 63 | |
JornJan | 0:921402a95675 | 64 | //PID 2 |
JornJan | 0:921402a95675 | 65 | error1_2 = ref2 - q2_puls; |
JornJan | 0:921402a95675 | 66 | error_I_2 = error_I2_2 + ts*((error1_2 + error2_2)/2); |
JornJan | 0:921402a95675 | 67 | |
JornJan | 0:921402a95675 | 68 | PI2 = Kp2*error1_2 + Ki2*(error_I_2); |
JornJan | 0:921402a95675 | 69 | |
JornJan | 0:921402a95675 | 70 | |
JornJan | 0:921402a95675 | 71 | if (PI1<=0) |
JornJan | 0:921402a95675 | 72 | { |
JornJan | 0:921402a95675 | 73 | motor1DirectionPin = 1; |
JornJan | 0:921402a95675 | 74 | motor1MagnitudePin = fabs(PI1); |
JornJan | 0:921402a95675 | 75 | } |
JornJan | 0:921402a95675 | 76 | else if (PI1>0) |
JornJan | 0:921402a95675 | 77 | { |
JornJan | 0:921402a95675 | 78 | motor1DirectionPin = 0; |
JornJan | 0:921402a95675 | 79 | motor1MagnitudePin = fabs(PI1); |
JornJan | 0:921402a95675 | 80 | } |
JornJan | 0:921402a95675 | 81 | |
JornJan | 0:921402a95675 | 82 | if (PI2>=0) |
JornJan | 0:921402a95675 | 83 | { |
JornJan | 0:921402a95675 | 84 | motor2DirectionPin = 1; |
JornJan | 0:921402a95675 | 85 | motor2MagnitudePin = fabs(PI2); |
JornJan | 0:921402a95675 | 86 | } |
JornJan | 0:921402a95675 | 87 | else if(PI2<0) |
JornJan | 0:921402a95675 | 88 | { |
JornJan | 0:921402a95675 | 89 | motor2DirectionPin = 0; |
JornJan | 0:921402a95675 | 90 | motor2MagnitudePin = fabs(PI2); |
JornJan | 0:921402a95675 | 91 | } |
JornJan | 0:921402a95675 | 92 | |
JornJan | 0:921402a95675 | 93 | if(n==500){ |
JornJan | 0:921402a95675 | 94 | printf("PI1 = %f\n\r", PI1); |
JornJan | 0:921402a95675 | 95 | n=0; |
JornJan | 0:921402a95675 | 96 | } |
JornJan | 0:921402a95675 | 97 | else{ |
JornJan | 0:921402a95675 | 98 | n=n+1; |
JornJan | 0:921402a95675 | 99 | } |
JornJan | 0:921402a95675 | 100 | |
JornJan | 0:921402a95675 | 101 | } |
JornJan | 0:921402a95675 | 102 | |
JornJan | 0:921402a95675 | 103 | void stapfunc() |
JornJan | 0:921402a95675 | 104 | { |
JornJan | 0:921402a95675 | 105 | if (ref1==0){ |
JornJan | 0:921402a95675 | 106 | ref1 = 1000; |
JornJan | 0:921402a95675 | 107 | } |
JornJan | 0:921402a95675 | 108 | else if (ref1==1000) |
JornJan | 0:921402a95675 | 109 | { |
JornJan | 0:921402a95675 | 110 | ref1=0; |
JornJan | 0:921402a95675 | 111 | } |
JornJan | 0:921402a95675 | 112 | } |
JornJan | 0:921402a95675 | 113 | |
JornJan | 0:921402a95675 | 114 | int main() |
JornJan | 0:921402a95675 | 115 | { |
JornJan | 0:921402a95675 | 116 | pc.baud(115200); |
JornJan | 0:921402a95675 | 117 | t.start(); |
JornJan | 0:921402a95675 | 118 | aansturing.attach_us(&controller, 1000); |
JornJan | 0:921402a95675 | 119 | //stepres.attach(&stapfunc, 3); |
JornJan | 0:921402a95675 | 120 | |
JornJan | 0:921402a95675 | 121 | while(true){ |
JornJan | 0:921402a95675 | 122 | |
JornJan | 0:921402a95675 | 123 | } |
JornJan | 0:921402a95675 | 124 | |
JornJan | 0:921402a95675 | 125 | |
JornJan | 0:921402a95675 | 126 | } |