PID simple
Dependencies: DebouncedIn TextLCD2 mbed
main.cpp@0:535d93f18f39, 2013-12-13 (annotated)
- Committer:
- JuanC
- Date:
- Fri Dec 13 17:47:06 2013 +0000
- Revision:
- 0:535d93f18f39
PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JuanC | 0:535d93f18f39 | 1 | #include "mbed.h" |
JuanC | 0:535d93f18f39 | 2 | #include "DebouncedIn.h" |
JuanC | 0:535d93f18f39 | 3 | #include "TextLCD.h" |
JuanC | 0:535d93f18f39 | 4 | |
JuanC | 0:535d93f18f39 | 5 | AnalogIn AI(PTC2); |
JuanC | 0:535d93f18f39 | 6 | AnalogOut AO(PTE30); |
JuanC | 0:535d93f18f39 | 7 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // Rs, E, D4-D7 |
JuanC | 0:535d93f18f39 | 8 | |
JuanC | 0:535d93f18f39 | 9 | DigitalOut led1(LED1); |
JuanC | 0:535d93f18f39 | 10 | DigitalOut led2(LED2); |
JuanC | 0:535d93f18f39 | 11 | DebouncedIn button1(PTC12); |
JuanC | 0:535d93f18f39 | 12 | DebouncedIn button2(PTC13); |
JuanC | 0:535d93f18f39 | 13 | DebouncedIn button3(PTA1); |
JuanC | 0:535d93f18f39 | 14 | DebouncedIn button4(PTC16); |
JuanC | 0:535d93f18f39 | 15 | |
JuanC | 0:535d93f18f39 | 16 | Timer t; |
JuanC | 0:535d93f18f39 | 17 | int flag; |
JuanC | 0:535d93f18f39 | 18 | |
JuanC | 0:535d93f18f39 | 19 | |
JuanC | 0:535d93f18f39 | 20 | /* Definiendo variables Globales */ |
JuanC | 0:535d93f18f39 | 21 | |
JuanC | 0:535d93f18f39 | 22 | int C1=0x0E; // solo muestra el curzor |
JuanC | 0:535d93f18f39 | 23 | int C2=0x18; // desplaza izquierda |
JuanC | 0:535d93f18f39 | 24 | int C3=0x1A; // desplaza derecha |
JuanC | 0:535d93f18f39 | 25 | int C4=0x0C; // Quita cursor bajo |
JuanC | 0:535d93f18f39 | 26 | int i; // índice de la variable |
JuanC | 0:535d93f18f39 | 27 | int j; |
JuanC | 0:535d93f18f39 | 28 | int kp, ki, kd, sp, cycle; |
JuanC | 0:535d93f18f39 | 29 | int ap, ai, ad, err, PV, pid, err_v; |
JuanC | 0:535d93f18f39 | 30 | /* Programa fundamental*/ |
JuanC | 0:535d93f18f39 | 31 | |
JuanC | 0:535d93f18f39 | 32 | |
JuanC | 0:535d93f18f39 | 33 | int main() |
JuanC | 0:535d93f18f39 | 34 | { |
JuanC | 0:535d93f18f39 | 35 | /* Imprimir en Pantalla Los labels y valores=? de |
JuanC | 0:535d93f18f39 | 36 | * los parametros del PID |
JuanC | 0:535d93f18f39 | 37 | */ |
JuanC | 0:535d93f18f39 | 38 | |
JuanC | 0:535d93f18f39 | 39 | lcd.cls(); //Borra la Pantalla |
JuanC | 0:535d93f18f39 | 40 | lcd.printf("Sp%d",sp); |
JuanC | 0:535d93f18f39 | 41 | lcd.locate(8,0); //sistema coordenado para posicionar en pantalla |
JuanC | 0:535d93f18f39 | 42 | lcd.printf("Kp%d",kp); |
JuanC | 0:535d93f18f39 | 43 | lcd.locate(0,1); |
JuanC | 0:535d93f18f39 | 44 | lcd.printf("Ki%d",ki); |
JuanC | 0:535d93f18f39 | 45 | lcd.locate(8,1); |
JuanC | 0:535d93f18f39 | 46 | lcd.printf("Kd%d",kd); |
JuanC | 0:535d93f18f39 | 47 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
JuanC | 0:535d93f18f39 | 48 | /* No me cuadra muy bien la |
JuanC | 0:535d93f18f39 | 49 | * lectura de los valores (consultar en las otras tareas) |
JuanC | 0:535d93f18f39 | 50 | */ |
JuanC | 0:535d93f18f39 | 51 | lcd.locate(0,0); |
JuanC | 0:535d93f18f39 | 52 | lcd.printf("Sp%d",sp); |
JuanC | 0:535d93f18f39 | 53 | |
JuanC | 0:535d93f18f39 | 54 | /* Ciclo while para alterar los valores de los parametros*/ |
JuanC | 0:535d93f18f39 | 55 | while (1) |
JuanC | 0:535d93f18f39 | 56 | { |
JuanC | 0:535d93f18f39 | 57 | if (button3.falling()) //Boton con flanco de caida |
JuanC | 0:535d93f18f39 | 58 | { |
JuanC | 0:535d93f18f39 | 59 | ++j; |
JuanC | 0:535d93f18f39 | 60 | } |
JuanC | 0:535d93f18f39 | 61 | if (j==0) //Este if realiza dos revisiones y actua solo en este valor (SP) |
JuanC | 0:535d93f18f39 | 62 | { |
JuanC | 0:535d93f18f39 | 63 | lcd.locate(2,0); |
JuanC | 0:535d93f18f39 | 64 | lcd.printf("%d",sp); //sigo con la inquietud del write lectura |
JuanC | 0:535d93f18f39 | 65 | if (button1.falling()) |
JuanC | 0:535d93f18f39 | 66 | { |
JuanC | 0:535d93f18f39 | 67 | ++sp; |
JuanC | 0:535d93f18f39 | 68 | } |
JuanC | 0:535d93f18f39 | 69 | if (button2.falling()) |
JuanC | 0:535d93f18f39 | 70 | { |
JuanC | 0:535d93f18f39 | 71 | --sp; |
JuanC | 0:535d93f18f39 | 72 | } |
JuanC | 0:535d93f18f39 | 73 | } |
JuanC | 0:535d93f18f39 | 74 | if (j==1) //Verificar si estos if son mas efectivos quetus Whiles Tarea1 |
JuanC | 0:535d93f18f39 | 75 | { |
JuanC | 0:535d93f18f39 | 76 | lcd.locate(10,0); |
JuanC | 0:535d93f18f39 | 77 | lcd.printf("%d",kp); |
JuanC | 0:535d93f18f39 | 78 | if (button1.falling()) |
JuanC | 0:535d93f18f39 | 79 | { |
JuanC | 0:535d93f18f39 | 80 | ++kp; |
JuanC | 0:535d93f18f39 | 81 | } |
JuanC | 0:535d93f18f39 | 82 | if (button2.falling()) |
JuanC | 0:535d93f18f39 | 83 | { |
JuanC | 0:535d93f18f39 | 84 | --kp; |
JuanC | 0:535d93f18f39 | 85 | } |
JuanC | 0:535d93f18f39 | 86 | } |
JuanC | 0:535d93f18f39 | 87 | if (j==2) |
JuanC | 0:535d93f18f39 | 88 | { |
JuanC | 0:535d93f18f39 | 89 | lcd.locate(2,1); |
JuanC | 0:535d93f18f39 | 90 | lcd.printf("%d",ki); |
JuanC | 0:535d93f18f39 | 91 | if (button1.falling()) |
JuanC | 0:535d93f18f39 | 92 | { |
JuanC | 0:535d93f18f39 | 93 | ++ki; |
JuanC | 0:535d93f18f39 | 94 | } |
JuanC | 0:535d93f18f39 | 95 | if (button2.falling()) |
JuanC | 0:535d93f18f39 | 96 | { |
JuanC | 0:535d93f18f39 | 97 | --ki; |
JuanC | 0:535d93f18f39 | 98 | } |
JuanC | 0:535d93f18f39 | 99 | } |
JuanC | 0:535d93f18f39 | 100 | if (j==3) |
JuanC | 0:535d93f18f39 | 101 | { |
JuanC | 0:535d93f18f39 | 102 | lcd.locate(10,1); |
JuanC | 0:535d93f18f39 | 103 | lcd.printf("%d",kd); |
JuanC | 0:535d93f18f39 | 104 | if (button1.falling()) |
JuanC | 0:535d93f18f39 | 105 | { |
JuanC | 0:535d93f18f39 | 106 | ++kd; |
JuanC | 0:535d93f18f39 | 107 | } |
JuanC | 0:535d93f18f39 | 108 | if (button2.falling()) |
JuanC | 0:535d93f18f39 | 109 | { |
JuanC | 0:535d93f18f39 | 110 | --kd; |
JuanC | 0:535d93f18f39 | 111 | } |
JuanC | 0:535d93f18f39 | 112 | } |
JuanC | 0:535d93f18f39 | 113 | if (j==4) //Este if realiza dos revisiones y actua solo en este valor (SP) |
JuanC | 0:535d93f18f39 | 114 | { |
JuanC | 0:535d93f18f39 | 115 | j=0; |
JuanC | 0:535d93f18f39 | 116 | } |
JuanC | 0:535d93f18f39 | 117 | if (button4.falling()) |
JuanC | 0:535d93f18f39 | 118 | { |
JuanC | 0:535d93f18f39 | 119 | break; //Salir de este ciclo while |
JuanC | 0:535d93f18f39 | 120 | } |
JuanC | 0:535d93f18f39 | 121 | } |
JuanC | 0:535d93f18f39 | 122 | /* Interaccion y avisos al usuario de sistema listo!!*/ |
JuanC | 0:535d93f18f39 | 123 | lcd.writeCommand(C4);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
JuanC | 0:535d93f18f39 | 124 | lcd.cls(); |
JuanC | 0:535d93f18f39 | 125 | lcd.printf("DATOS GUARDADOS"); |
JuanC | 0:535d93f18f39 | 126 | wait(2); |
JuanC | 0:535d93f18f39 | 127 | lcd.cls(); |
JuanC | 0:535d93f18f39 | 128 | lcd.printf("INICIA EL PID"); |
JuanC | 0:535d93f18f39 | 129 | wait(2); |
JuanC | 0:535d93f18f39 | 130 | lcd.cls(); |
JuanC | 0:535d93f18f39 | 131 | /* Imprimir los labels de algunas variables y parametros de Control en Ejecucion */ |
JuanC | 0:535d93f18f39 | 132 | lcd.printf("Er%g",err); |
JuanC | 0:535d93f18f39 | 133 | lcd.locate(8,0); |
JuanC | 0:535d93f18f39 | 134 | lcd.printf("Me%g",PV); |
JuanC | 0:535d93f18f39 | 135 | lcd.locate(0,1); |
JuanC | 0:535d93f18f39 | 136 | lcd.printf("SP%d",sp); |
JuanC | 0:535d93f18f39 | 137 | lcd.locate(8,1); |
JuanC | 0:535d93f18f39 | 138 | lcd.printf("Co%g",pid); |
JuanC | 0:535d93f18f39 | 139 | /*Ziegler–Nichols_method*/ |
JuanC | 0:535d93f18f39 | 140 | /*kp=((kp*3.3)/(kp*4.5)); |
JuanC | 0:535d93f18f39 | 141 | ki=2*kp; |
JuanC | 0:535d93f18f39 | 142 | kd=kp/8*/; |
JuanC | 0:535d93f18f39 | 143 | wait(.5); |
JuanC | 0:535d93f18f39 | 144 | |
JuanC | 0:535d93f18f39 | 145 | /* Ciclo while contiene el codigo especifico rutiona del PID*/ |
JuanC | 0:535d93f18f39 | 146 | while (1) |
JuanC | 0:535d93f18f39 | 147 | { |
JuanC | 0:535d93f18f39 | 148 | /* pilas con leer el puerto analogo y asignarlo a med*/ |
JuanC | 0:535d93f18f39 | 149 | PV = AI.read(); |
JuanC | 0:535d93f18f39 | 150 | PV =PV*1000; |
JuanC | 0:535d93f18f39 | 151 | err =sp-PV; |
JuanC | 0:535d93f18f39 | 152 | err=err/100; |
JuanC | 0:535d93f18f39 | 153 | ap=kp*err; //Proporcional incremento en funcion del error Parte P |
JuanC | 0:535d93f18f39 | 154 | ai=(ki*err)+ai; //Acumula los errores Parte I |
JuanC | 0:535d93f18f39 | 155 | ad=kd*(err-err_v); // tiene en cuenta el delta del error Parte D |
JuanC | 0:535d93f18f39 | 156 | pid=ap+ai+ad; // comentar esta y ponerla despues de comentar los ifs |
JuanC | 0:535d93f18f39 | 157 | if (ai>999) |
JuanC | 0:535d93f18f39 | 158 | { |
JuanC | 0:535d93f18f39 | 159 | ai=1000; |
JuanC | 0:535d93f18f39 | 160 | } |
JuanC | 0:535d93f18f39 | 161 | else if (pid<0) |
JuanC | 0:535d93f18f39 | 162 | { |
JuanC | 0:535d93f18f39 | 163 | pid=0; |
JuanC | 0:535d93f18f39 | 164 | } |
JuanC | 0:535d93f18f39 | 165 | AO.write(pid/1000); |
JuanC | 0:535d93f18f39 | 166 | if(flag==0) |
JuanC | 0:535d93f18f39 | 167 | { |
JuanC | 0:535d93f18f39 | 168 | t.start(); |
JuanC | 0:535d93f18f39 | 169 | flag=1; |
JuanC | 0:535d93f18f39 | 170 | } |
JuanC | 0:535d93f18f39 | 171 | |
JuanC | 0:535d93f18f39 | 172 | //AO=pid; |
JuanC | 0:535d93f18f39 | 173 | if (t>0.3) |
JuanC | 0:535d93f18f39 | 174 | { |
JuanC | 0:535d93f18f39 | 175 | /* Imprimir algunas variables y parametros de Control en Ejecucion */ |
JuanC | 0:535d93f18f39 | 176 | lcd.locate(2,0); |
JuanC | 0:535d93f18f39 | 177 | printf("%g",err); |
JuanC | 0:535d93f18f39 | 178 | lcd.locate(2,1); |
JuanC | 0:535d93f18f39 | 179 | printf("%d",sp); |
JuanC | 0:535d93f18f39 | 180 | lcd.locate(10,0); |
JuanC | 0:535d93f18f39 | 181 | printf("%g",PV); |
JuanC | 0:535d93f18f39 | 182 | lcd.locate(10,1); |
JuanC | 0:535d93f18f39 | 183 | printf("%g",pid); |
JuanC | 0:535d93f18f39 | 184 | t.reset(); |
JuanC | 0:535d93f18f39 | 185 | flag=0; |
JuanC | 0:535d93f18f39 | 186 | wait(.3); |
JuanC | 0:535d93f18f39 | 187 | } |
JuanC | 0:535d93f18f39 | 188 | |
JuanC | 0:535d93f18f39 | 189 | err_v = err; |
JuanC | 0:535d93f18f39 | 190 | |
JuanC | 0:535d93f18f39 | 191 | |
JuanC | 0:535d93f18f39 | 192 | } |
JuanC | 0:535d93f18f39 | 193 | |
JuanC | 0:535d93f18f39 | 194 | |
JuanC | 0:535d93f18f39 | 195 | } |
JuanC | 0:535d93f18f39 | 196 | |
JuanC | 0:535d93f18f39 | 197 |