Marcelo Costanzo Miranda
/
PID_PTC5611
PTC5611 final
main.cpp@0:e38258c0b70d, 2020-06-25 (annotated)
- Committer:
- Marcelocostanzo
- Date:
- Thu Jun 25 19:20:55 2020 +0000
- Revision:
- 0:e38258c0b70d
PTC5611 Final;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Marcelocostanzo | 0:e38258c0b70d | 1 | #include "mbed.h" |
Marcelocostanzo | 0:e38258c0b70d | 2 | #include "string.h" |
Marcelocostanzo | 0:e38258c0b70d | 3 | |
Marcelocostanzo | 0:e38258c0b70d | 4 | PwmOut pwm(A1); |
Marcelocostanzo | 0:e38258c0b70d | 5 | |
Marcelocostanzo | 0:e38258c0b70d | 6 | AnalogIn sensor(A0); |
Marcelocostanzo | 0:e38258c0b70d | 7 | |
Marcelocostanzo | 0:e38258c0b70d | 8 | DigitalOut led(LED1); |
Marcelocostanzo | 0:e38258c0b70d | 9 | |
Marcelocostanzo | 0:e38258c0b70d | 10 | DigitalIn sw(USER_BUTTON); |
Marcelocostanzo | 0:e38258c0b70d | 11 | |
Marcelocostanzo | 0:e38258c0b70d | 12 | //Serial pc(USBTX, USBRX); |
Marcelocostanzo | 0:e38258c0b70d | 13 | Serial pc(PC_10, PC_11); |
Marcelocostanzo | 0:e38258c0b70d | 14 | |
Marcelocostanzo | 0:e38258c0b70d | 15 | Timer t1; |
Marcelocostanzo | 0:e38258c0b70d | 16 | |
Marcelocostanzo | 0:e38258c0b70d | 17 | |
Marcelocostanzo | 0:e38258c0b70d | 18 | double ERROR_MEASURE, |
Marcelocostanzo | 0:e38258c0b70d | 19 | KP = 0.00902, //000.9702f, //0.0159f, |
Marcelocostanzo | 0:e38258c0b70d | 20 | KI = 0.000133, //000.0013986f, //156.1257f, |
Marcelocostanzo | 0:e38258c0b70d | 21 | PROPORTIONAL, |
Marcelocostanzo | 0:e38258c0b70d | 22 | INTEGRAL, |
Marcelocostanzo | 0:e38258c0b70d | 23 | LAST_INTEGRAL, |
Marcelocostanzo | 0:e38258c0b70d | 24 | PI, |
Marcelocostanzo | 0:e38258c0b70d | 25 | TS = 0.5; |
Marcelocostanzo | 0:e38258c0b70d | 26 | |
Marcelocostanzo | 0:e38258c0b70d | 27 | float TEMPERATURE_C = 0; |
Marcelocostanzo | 0:e38258c0b70d | 28 | |
Marcelocostanzo | 0:e38258c0b70d | 29 | float SETPOINT = 210.0f; |
Marcelocostanzo | 0:e38258c0b70d | 30 | |
Marcelocostanzo | 0:e38258c0b70d | 31 | |
Marcelocostanzo | 0:e38258c0b70d | 32 | void pi_control(void); |
Marcelocostanzo | 0:e38258c0b70d | 33 | void calc_celsius(void); |
Marcelocostanzo | 0:e38258c0b70d | 34 | void le_k(void); |
Marcelocostanzo | 0:e38258c0b70d | 35 | |
Marcelocostanzo | 0:e38258c0b70d | 36 | int main() |
Marcelocostanzo | 0:e38258c0b70d | 37 | { |
Marcelocostanzo | 0:e38258c0b70d | 38 | |
Marcelocostanzo | 0:e38258c0b70d | 39 | pc.baud(115200); |
Marcelocostanzo | 0:e38258c0b70d | 40 | pc.attach(&le_k); |
Marcelocostanzo | 0:e38258c0b70d | 41 | |
Marcelocostanzo | 0:e38258c0b70d | 42 | pwm.period_us(1000); //1KHz |
Marcelocostanzo | 0:e38258c0b70d | 43 | int MS=0; |
Marcelocostanzo | 0:e38258c0b70d | 44 | |
Marcelocostanzo | 0:e38258c0b70d | 45 | pwm.write(0.1f); |
Marcelocostanzo | 0:e38258c0b70d | 46 | int play = 0; |
Marcelocostanzo | 0:e38258c0b70d | 47 | while(play == 0) |
Marcelocostanzo | 0:e38258c0b70d | 48 | { |
Marcelocostanzo | 0:e38258c0b70d | 49 | calc_celsius(); |
Marcelocostanzo | 0:e38258c0b70d | 50 | pc.printf("Temp %.2f\r",TEMPERATURE_C); |
Marcelocostanzo | 0:e38258c0b70d | 51 | if((sw == 0) && (play == 0)) |
Marcelocostanzo | 0:e38258c0b70d | 52 | { |
Marcelocostanzo | 0:e38258c0b70d | 53 | wait_ms(300); |
Marcelocostanzo | 0:e38258c0b70d | 54 | if((sw == 0) && (play == 0)) |
Marcelocostanzo | 0:e38258c0b70d | 55 | { |
Marcelocostanzo | 0:e38258c0b70d | 56 | play = 1; |
Marcelocostanzo | 0:e38258c0b70d | 57 | wait_ms(1000); |
Marcelocostanzo | 0:e38258c0b70d | 58 | } |
Marcelocostanzo | 0:e38258c0b70d | 59 | } |
Marcelocostanzo | 0:e38258c0b70d | 60 | } |
Marcelocostanzo | 0:e38258c0b70d | 61 | |
Marcelocostanzo | 0:e38258c0b70d | 62 | while(1) |
Marcelocostanzo | 0:e38258c0b70d | 63 | { |
Marcelocostanzo | 0:e38258c0b70d | 64 | //t1.stop(); |
Marcelocostanzo | 0:e38258c0b70d | 65 | //pc.printf("%i\r",t1.read_us()); |
Marcelocostanzo | 0:e38258c0b70d | 66 | //t1.reset(); |
Marcelocostanzo | 0:e38258c0b70d | 67 | //t1.start(); |
Marcelocostanzo | 0:e38258c0b70d | 68 | calc_celsius(); |
Marcelocostanzo | 0:e38258c0b70d | 69 | pi_control(); |
Marcelocostanzo | 0:e38258c0b70d | 70 | pc.printf("Temp: %.2f %i\r",TEMPERATURE_C, MS); |
Marcelocostanzo | 0:e38258c0b70d | 71 | MS +=500; |
Marcelocostanzo | 0:e38258c0b70d | 72 | //pc.printf("PI: %f\r",PI); |
Marcelocostanzo | 0:e38258c0b70d | 73 | } |
Marcelocostanzo | 0:e38258c0b70d | 74 | |
Marcelocostanzo | 0:e38258c0b70d | 75 | } |
Marcelocostanzo | 0:e38258c0b70d | 76 | |
Marcelocostanzo | 0:e38258c0b70d | 77 | void pi_control() |
Marcelocostanzo | 0:e38258c0b70d | 78 | { |
Marcelocostanzo | 0:e38258c0b70d | 79 | ERROR_MEASURE = SETPOINT - TEMPERATURE_C; //calcula o erro |
Marcelocostanzo | 0:e38258c0b70d | 80 | |
Marcelocostanzo | 0:e38258c0b70d | 81 | PROPORTIONAL = ERROR_MEASURE * KP; //calcula a parcela proporcional |
Marcelocostanzo | 0:e38258c0b70d | 82 | |
Marcelocostanzo | 0:e38258c0b70d | 83 | INTEGRAL = LAST_INTEGRAL + (ERROR_MEASURE * KI * TS); //calcula a parcela integradora |
Marcelocostanzo | 0:e38258c0b70d | 84 | |
Marcelocostanzo | 0:e38258c0b70d | 85 | //if(integral > 1.0f) integral = 1.0f;//anti wind up |
Marcelocostanzo | 0:e38258c0b70d | 86 | //if(integral < -1.0f) integral = -1.0f; |
Marcelocostanzo | 0:e38258c0b70d | 87 | |
Marcelocostanzo | 0:e38258c0b70d | 88 | PI = PROPORTIONAL + INTEGRAL ; //soma as parcelas |
Marcelocostanzo | 0:e38258c0b70d | 89 | |
Marcelocostanzo | 0:e38258c0b70d | 90 | //if(PID > 1.0f) PID = 1.0f; //nao deixa os valores ultrapasssarem o range do pwm de 0.0 a 1.0 (equivale a 0 - 100%) |
Marcelocostanzo | 0:e38258c0b70d | 91 | //if(PID < 0.0f) PID = 0.0f; |
Marcelocostanzo | 0:e38258c0b70d | 92 | |
Marcelocostanzo | 0:e38258c0b70d | 93 | pwm = PI; //escreve a saida de pwm |
Marcelocostanzo | 0:e38258c0b70d | 94 | |
Marcelocostanzo | 0:e38258c0b70d | 95 | LAST_INTEGRAL = INTEGRAL; |
Marcelocostanzo | 0:e38258c0b70d | 96 | } |
Marcelocostanzo | 0:e38258c0b70d | 97 | |
Marcelocostanzo | 0:e38258c0b70d | 98 | void calc_celsius() |
Marcelocostanzo | 0:e38258c0b70d | 99 | { |
Marcelocostanzo | 0:e38258c0b70d | 100 | float average = 0; |
Marcelocostanzo | 0:e38258c0b70d | 101 | for(int i = 0; i < ((TS * 1000.0) - 6); i++) //-6 pois é o tempo de ciclo do programa, assim compensando para nao interferir em Ts |
Marcelocostanzo | 0:e38258c0b70d | 102 | { |
Marcelocostanzo | 0:e38258c0b70d | 103 | average += sensor.read(); |
Marcelocostanzo | 0:e38258c0b70d | 104 | wait_ms(1); |
Marcelocostanzo | 0:e38258c0b70d | 105 | } |
Marcelocostanzo | 0:e38258c0b70d | 106 | |
Marcelocostanzo | 0:e38258c0b70d | 107 | float adc_sensor = (average / ((TS * 1000.0) - 6)) * 4096.0f; //-6 pois é o tempo de ciclo do programa, assim compensando para nao interferir em Ts |
Marcelocostanzo | 0:e38258c0b70d | 108 | average = 0.0f; |
Marcelocostanzo | 0:e38258c0b70d | 109 | |
Marcelocostanzo | 0:e38258c0b70d | 110 | float R_sensor = 10000.0f * adc_sensor / (4095.0f - adc_sensor); |
Marcelocostanzo | 0:e38258c0b70d | 111 | float div = R_sensor/100000.0f; |
Marcelocostanzo | 0:e38258c0b70d | 112 | float x_log = log(div); |
Marcelocostanzo | 0:e38258c0b70d | 113 | float log_1_b = x_log * 0.000253165f; |
Marcelocostanzo | 0:e38258c0b70d | 114 | float k2 = log_1_b + 0.003354016f; |
Marcelocostanzo | 0:e38258c0b70d | 115 | float tk = 1.0f / k2; |
Marcelocostanzo | 0:e38258c0b70d | 116 | |
Marcelocostanzo | 0:e38258c0b70d | 117 | TEMPERATURE_C = tk - 273.15f; |
Marcelocostanzo | 0:e38258c0b70d | 118 | } |
Marcelocostanzo | 0:e38258c0b70d | 119 | |
Marcelocostanzo | 0:e38258c0b70d | 120 | |
Marcelocostanzo | 0:e38258c0b70d | 121 | |
Marcelocostanzo | 0:e38258c0b70d | 122 | |
Marcelocostanzo | 0:e38258c0b70d | 123 | void le_k() |
Marcelocostanzo | 0:e38258c0b70d | 124 | { |
Marcelocostanzo | 0:e38258c0b70d | 125 | char c[20]; |
Marcelocostanzo | 0:e38258c0b70d | 126 | memset(c,NULL,20); |
Marcelocostanzo | 0:e38258c0b70d | 127 | |
Marcelocostanzo | 0:e38258c0b70d | 128 | int i = 0; |
Marcelocostanzo | 0:e38258c0b70d | 129 | |
Marcelocostanzo | 0:e38258c0b70d | 130 | while(c[i-1] != '\r') |
Marcelocostanzo | 0:e38258c0b70d | 131 | { |
Marcelocostanzo | 0:e38258c0b70d | 132 | c[i] = pc.getc(); |
Marcelocostanzo | 0:e38258c0b70d | 133 | i++; |
Marcelocostanzo | 0:e38258c0b70d | 134 | } |
Marcelocostanzo | 0:e38258c0b70d | 135 | |
Marcelocostanzo | 0:e38258c0b70d | 136 | char valor[8]; |
Marcelocostanzo | 0:e38258c0b70d | 137 | |
Marcelocostanzo | 0:e38258c0b70d | 138 | valor[0] = c[1]; |
Marcelocostanzo | 0:e38258c0b70d | 139 | valor[1] = c[2]; |
Marcelocostanzo | 0:e38258c0b70d | 140 | valor[2] = c[3]; |
Marcelocostanzo | 0:e38258c0b70d | 141 | valor[3] = c[4]; |
Marcelocostanzo | 0:e38258c0b70d | 142 | valor[4] = c[5]; |
Marcelocostanzo | 0:e38258c0b70d | 143 | valor[5] = c[6]; |
Marcelocostanzo | 0:e38258c0b70d | 144 | valor[6] = c[7]; |
Marcelocostanzo | 0:e38258c0b70d | 145 | valor[7] = c[8]; |
Marcelocostanzo | 0:e38258c0b70d | 146 | |
Marcelocostanzo | 0:e38258c0b70d | 147 | //pc.printf(valor); |
Marcelocostanzo | 0:e38258c0b70d | 148 | |
Marcelocostanzo | 0:e38258c0b70d | 149 | if(c[0] == 'P') //ajusta Kp |
Marcelocostanzo | 0:e38258c0b70d | 150 | { |
Marcelocostanzo | 0:e38258c0b70d | 151 | KP = atof(valor); |
Marcelocostanzo | 0:e38258c0b70d | 152 | pc.printf("\n\nkp = %f\n\r\n",KP); |
Marcelocostanzo | 0:e38258c0b70d | 153 | } |
Marcelocostanzo | 0:e38258c0b70d | 154 | |
Marcelocostanzo | 0:e38258c0b70d | 155 | if(c[0] == 'I') //ajusta Ki |
Marcelocostanzo | 0:e38258c0b70d | 156 | { |
Marcelocostanzo | 0:e38258c0b70d | 157 | KI = atof(valor); |
Marcelocostanzo | 0:e38258c0b70d | 158 | pc.printf("\n\nki = %f\n\r\n",KI); |
Marcelocostanzo | 0:e38258c0b70d | 159 | } |
Marcelocostanzo | 0:e38258c0b70d | 160 | |
Marcelocostanzo | 0:e38258c0b70d | 161 | if(c[0] == 'T') //ajusta Kd |
Marcelocostanzo | 0:e38258c0b70d | 162 | { |
Marcelocostanzo | 0:e38258c0b70d | 163 | TS = atof(valor); |
Marcelocostanzo | 0:e38258c0b70d | 164 | pc.printf("\n\nTs = %f\n\r\n",TS); |
Marcelocostanzo | 0:e38258c0b70d | 165 | } |
Marcelocostanzo | 0:e38258c0b70d | 166 | |
Marcelocostanzo | 0:e38258c0b70d | 167 | if(c[0] == 'S') //ajusta o SETPOINT |
Marcelocostanzo | 0:e38258c0b70d | 168 | { |
Marcelocostanzo | 0:e38258c0b70d | 169 | SETPOINT = atof(valor); |
Marcelocostanzo | 0:e38258c0b70d | 170 | pc.printf("\n\nSetpoint = %f\n\r\n",SETPOINT); |
Marcelocostanzo | 0:e38258c0b70d | 171 | } |
Marcelocostanzo | 0:e38258c0b70d | 172 | |
Marcelocostanzo | 0:e38258c0b70d | 173 | wait_ms(2000); |
Marcelocostanzo | 0:e38258c0b70d | 174 | } |
Marcelocostanzo | 0:e38258c0b70d | 175 |