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PID para un circuito RC
Dependencies: Debounced QEI TextLCD mbed
main.cpp@0:6725cd84b3ad, 2015-10-19 (annotated)
- Committer:
- Meli
- Date:
- Mon Oct 19 21:39:40 2015 +0000
- Revision:
- 0:6725cd84b3ad
Se realiza un PID para un circuito RC;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Meli | 0:6725cd84b3ad | 1 | #include "mbed.h" |
Meli | 0:6725cd84b3ad | 2 | #include "DebouncedIn.h" |
Meli | 0:6725cd84b3ad | 3 | #include "TextLCD.h" |
Meli | 0:6725cd84b3ad | 4 | #include "QEI.h" |
Meli | 0:6725cd84b3ad | 5 | |
Meli | 0:6725cd84b3ad | 6 | AnalogIn Vin(PTC2); // entrada analoga |
Meli | 0:6725cd84b3ad | 7 | AnalogOut Vout(PTE30); // salida analoga |
Meli | 0:6725cd84b3ad | 8 | //voltaje de salida maximo= 3.3 V |
Meli | 0:6725cd84b3ad | 9 | |
Meli | 0:6725cd84b3ad | 10 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
Meli | 0:6725cd84b3ad | 11 | |
Meli | 0:6725cd84b3ad | 12 | QEI wheel (PTD5, PTD0, NC, 150); |
Meli | 0:6725cd84b3ad | 13 | DigitalOut led1(LED1); |
Meli | 0:6725cd84b3ad | 14 | DigitalOut led2(LED2); |
Meli | 0:6725cd84b3ad | 15 | DigitalOut led3(LED3); |
Meli | 0:6725cd84b3ad | 16 | DebouncedIn botonEncoder(PTC5); |
Meli | 0:6725cd84b3ad | 17 | DebouncedIn button4(PTC17); |
Meli | 0:6725cd84b3ad | 18 | |
Meli | 0:6725cd84b3ad | 19 | |
Meli | 0:6725cd84b3ad | 20 | //int C1=0x0E; // solo muestra el curzor |
Meli | 0:6725cd84b3ad | 21 | int C2=0x18; // desplaza izquierda |
Meli | 0:6725cd84b3ad | 22 | int C3=0x1A; // desplaza derecha |
Meli | 0:6725cd84b3ad | 23 | int C4=0x0C; // quito cursor bajo |
Meli | 0:6725cd84b3ad | 24 | int C1=0x0F; |
Meli | 0:6725cd84b3ad | 25 | int sp=0,kp=0,kd=0,ki=0,p=1,bandera = 0; |
Meli | 0:6725cd84b3ad | 26 | int i; // indice de la variable |
Meli | 0:6725cd84b3ad | 27 | int j; //variable controla cambio 4 posiciones |
Meli | 0:6725cd84b3ad | 28 | float err; |
Meli | 0:6725cd84b3ad | 29 | float pwmset; |
Meli | 0:6725cd84b3ad | 30 | float eInteg; |
Meli | 0:6725cd84b3ad | 31 | float pGain; |
Meli | 0:6725cd84b3ad | 32 | float ePrev ; |
Meli | 0:6725cd84b3ad | 33 | float iGain; |
Meli | 0:6725cd84b3ad | 34 | float dGain; |
Meli | 0:6725cd84b3ad | 35 | float x; |
Meli | 0:6725cd84b3ad | 36 | int main() |
Meli | 0:6725cd84b3ad | 37 | { |
Meli | 0:6725cd84b3ad | 38 | lcd.cls(); |
Meli | 0:6725cd84b3ad | 39 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD |
Meli | 0:6725cd84b3ad | 40 | lcd.locate(8,0); |
Meli | 0:6725cd84b3ad | 41 | lcd.printf("kp=%d",kp); |
Meli | 0:6725cd84b3ad | 42 | lcd.locate(0,1); |
Meli | 0:6725cd84b3ad | 43 | lcd.printf("Ki=%d", ki); |
Meli | 0:6725cd84b3ad | 44 | lcd.locate(8,1); |
Meli | 0:6725cd84b3ad | 45 | lcd.printf("Kd=%d", kd); |
Meli | 0:6725cd84b3ad | 46 | lcd.locate(0,0); |
Meli | 0:6725cd84b3ad | 47 | lcd.printf("Sp=%d", sp); |
Meli | 0:6725cd84b3ad | 48 | |
Meli | 0:6725cd84b3ad | 49 | while(1) { |
Meli | 0:6725cd84b3ad | 50 | |
Meli | 0:6725cd84b3ad | 51 | led3 =1; |
Meli | 0:6725cd84b3ad | 52 | if (botonEncoder.falling()) { //INCREMENTA POSICION DEL MENU CON BOTON 3 (Switche encoder) |
Meli | 0:6725cd84b3ad | 53 | led3 =!led3; |
Meli | 0:6725cd84b3ad | 54 | ++j; |
Meli | 0:6725cd84b3ad | 55 | } |
Meli | 0:6725cd84b3ad | 56 | |
Meli | 0:6725cd84b3ad | 57 | if (j==0){ |
Meli | 0:6725cd84b3ad | 58 | sp=sp+wheel.getPulses(); |
Meli | 0:6725cd84b3ad | 59 | wheel.reset(); |
Meli | 0:6725cd84b3ad | 60 | if (sp>5){ |
Meli | 0:6725cd84b3ad | 61 | sp=5; |
Meli | 0:6725cd84b3ad | 62 | } |
Meli | 0:6725cd84b3ad | 63 | if (sp<0){ |
Meli | 0:6725cd84b3ad | 64 | sp=0; |
Meli | 0:6725cd84b3ad | 65 | } |
Meli | 0:6725cd84b3ad | 66 | lcd.locate(3,0); |
Meli | 0:6725cd84b3ad | 67 | lcd.printf(" ",sp); |
Meli | 0:6725cd84b3ad | 68 | lcd.locate(3,0); |
Meli | 0:6725cd84b3ad | 69 | lcd.printf("%d",sp); |
Meli | 0:6725cd84b3ad | 70 | wait(0.2); |
Meli | 0:6725cd84b3ad | 71 | |
Meli | 0:6725cd84b3ad | 72 | if(botonEncoder.falling()){ |
Meli | 0:6725cd84b3ad | 73 | j=1; |
Meli | 0:6725cd84b3ad | 74 | led3=0; |
Meli | 0:6725cd84b3ad | 75 | wait(0.3); |
Meli | 0:6725cd84b3ad | 76 | wheel.reset(); |
Meli | 0:6725cd84b3ad | 77 | } |
Meli | 0:6725cd84b3ad | 78 | |
Meli | 0:6725cd84b3ad | 79 | } |
Meli | 0:6725cd84b3ad | 80 | |
Meli | 0:6725cd84b3ad | 81 | if (j==1) { |
Meli | 0:6725cd84b3ad | 82 | kp=kp+wheel.getPulses(); |
Meli | 0:6725cd84b3ad | 83 | wheel.reset(); |
Meli | 0:6725cd84b3ad | 84 | if (kp>999){ |
Meli | 0:6725cd84b3ad | 85 | kp=999; |
Meli | 0:6725cd84b3ad | 86 | } |
Meli | 0:6725cd84b3ad | 87 | if (kp<0){ |
Meli | 0:6725cd84b3ad | 88 | kp=0; |
Meli | 0:6725cd84b3ad | 89 | } |
Meli | 0:6725cd84b3ad | 90 | lcd.locate(11,0); |
Meli | 0:6725cd84b3ad | 91 | lcd.printf(" "); |
Meli | 0:6725cd84b3ad | 92 | lcd.locate(11,0); |
Meli | 0:6725cd84b3ad | 93 | lcd.printf("%d",kp); |
Meli | 0:6725cd84b3ad | 94 | wait(0.2); |
Meli | 0:6725cd84b3ad | 95 | |
Meli | 0:6725cd84b3ad | 96 | if(botonEncoder.falling()){ |
Meli | 0:6725cd84b3ad | 97 | j=2; |
Meli | 0:6725cd84b3ad | 98 | led3=0; |
Meli | 0:6725cd84b3ad | 99 | wait(0.3); |
Meli | 0:6725cd84b3ad | 100 | wheel.reset(); |
Meli | 0:6725cd84b3ad | 101 | } |
Meli | 0:6725cd84b3ad | 102 | |
Meli | 0:6725cd84b3ad | 103 | } |
Meli | 0:6725cd84b3ad | 104 | |
Meli | 0:6725cd84b3ad | 105 | if (j==2) { |
Meli | 0:6725cd84b3ad | 106 | ki=ki+wheel.getPulses(); |
Meli | 0:6725cd84b3ad | 107 | wheel.reset(); |
Meli | 0:6725cd84b3ad | 108 | if (ki>999){ |
Meli | 0:6725cd84b3ad | 109 | ki=999; |
Meli | 0:6725cd84b3ad | 110 | } |
Meli | 0:6725cd84b3ad | 111 | if (ki<0){ |
Meli | 0:6725cd84b3ad | 112 | ki=0; |
Meli | 0:6725cd84b3ad | 113 | } |
Meli | 0:6725cd84b3ad | 114 | lcd.locate(3,1); |
Meli | 0:6725cd84b3ad | 115 | lcd.printf(" "); |
Meli | 0:6725cd84b3ad | 116 | lcd.locate(3,1); |
Meli | 0:6725cd84b3ad | 117 | lcd.printf("%d",ki); |
Meli | 0:6725cd84b3ad | 118 | wait(0.2); |
Meli | 0:6725cd84b3ad | 119 | |
Meli | 0:6725cd84b3ad | 120 | if(botonEncoder.falling()){ |
Meli | 0:6725cd84b3ad | 121 | j=3; |
Meli | 0:6725cd84b3ad | 122 | led3=0; |
Meli | 0:6725cd84b3ad | 123 | wait(0.3); |
Meli | 0:6725cd84b3ad | 124 | wheel.reset(); |
Meli | 0:6725cd84b3ad | 125 | } |
Meli | 0:6725cd84b3ad | 126 | |
Meli | 0:6725cd84b3ad | 127 | } |
Meli | 0:6725cd84b3ad | 128 | |
Meli | 0:6725cd84b3ad | 129 | if (j==3) { |
Meli | 0:6725cd84b3ad | 130 | kd=kd+wheel.getPulses(); |
Meli | 0:6725cd84b3ad | 131 | wheel.reset(); |
Meli | 0:6725cd84b3ad | 132 | if (kd>999){ |
Meli | 0:6725cd84b3ad | 133 | kd=999; |
Meli | 0:6725cd84b3ad | 134 | } |
Meli | 0:6725cd84b3ad | 135 | if (kd<0){ |
Meli | 0:6725cd84b3ad | 136 | kd=0; |
Meli | 0:6725cd84b3ad | 137 | } |
Meli | 0:6725cd84b3ad | 138 | lcd.locate(11,1); |
Meli | 0:6725cd84b3ad | 139 | lcd.printf(" "); |
Meli | 0:6725cd84b3ad | 140 | lcd.locate(11,1); |
Meli | 0:6725cd84b3ad | 141 | lcd.printf("%d",kd); |
Meli | 0:6725cd84b3ad | 142 | wait(0.2); |
Meli | 0:6725cd84b3ad | 143 | |
Meli | 0:6725cd84b3ad | 144 | if(botonEncoder.falling()){ |
Meli | 0:6725cd84b3ad | 145 | j=0; |
Meli | 0:6725cd84b3ad | 146 | led3=0; |
Meli | 0:6725cd84b3ad | 147 | wait(0.3); |
Meli | 0:6725cd84b3ad | 148 | wheel.reset(); |
Meli | 0:6725cd84b3ad | 149 | } |
Meli | 0:6725cd84b3ad | 150 | |
Meli | 0:6725cd84b3ad | 151 | } |
Meli | 0:6725cd84b3ad | 152 | |
Meli | 0:6725cd84b3ad | 153 | if (j==4) { |
Meli | 0:6725cd84b3ad | 154 | j=0; |
Meli | 0:6725cd84b3ad | 155 | } |
Meli | 0:6725cd84b3ad | 156 | |
Meli | 0:6725cd84b3ad | 157 | if (!button4){ |
Meli | 0:6725cd84b3ad | 158 | break; //sale del bucle si pisan suiche4 |
Meli | 0:6725cd84b3ad | 159 | } |
Meli | 0:6725cd84b3ad | 160 | } //cierro while(1) |
Meli | 0:6725cd84b3ad | 161 | |
Meli | 0:6725cd84b3ad | 162 | //enter |
Meli | 0:6725cd84b3ad | 163 | if(button4.falling()) |
Meli | 0:6725cd84b3ad | 164 | { |
Meli | 0:6725cd84b3ad | 165 | lcd.cls(); // al undir el boton 4 se borra la pantalla |
Meli | 0:6725cd84b3ad | 166 | //for (int h=0;h<100;h++) |
Meli | 0:6725cd84b3ad | 167 | //Vout= Vout+0.01; |
Meli | 0:6725cd84b3ad | 168 | while(bandera==0) |
Meli | 0:6725cd84b3ad | 169 | { |
Meli | 0:6725cd84b3ad | 170 | wait(0.2); |
Meli | 0:6725cd84b3ad | 171 | x=Vout.read(); // lee el voltaje de salida que nuestra analoga pero en porcentaje |
Meli | 0:6725cd84b3ad | 172 | |
Meli | 0:6725cd84b3ad | 173 | //} |
Meli | 0:6725cd84b3ad | 174 | //pid |
Meli | 0:6725cd84b3ad | 175 | |
Meli | 0:6725cd84b3ad | 176 | err = sp-x; // Calcula el error |
Meli | 0:6725cd84b3ad | 177 | pwmset = kp* err+ki * eInteg +kd* (err - ePrev); // ecuacion para el PID |
Meli | 0:6725cd84b3ad | 178 | pwmset=(0.976801/5)*pwmset; // como el voltaje calculado fue un porcentaje se realiza una conversion respectiva al valor de salida |
Meli | 0:6725cd84b3ad | 179 | Vout=pwmset; |
Meli | 0:6725cd84b3ad | 180 | eInteg =eInteg+ err; // integral |
Meli | 0:6725cd84b3ad | 181 | ePrev = err; |
Meli | 0:6725cd84b3ad | 182 | lcd.locate(0,1); |
Meli | 0:6725cd84b3ad | 183 | lcd.printf("error=%f",err); |
Meli | 0:6725cd84b3ad | 184 | lcd.locate(1,0); |
Meli | 0:6725cd84b3ad | 185 | lcd.printf("salida=%f",x); |
Meli | 0:6725cd84b3ad | 186 | if (button4.falling()) |
Meli | 0:6725cd84b3ad | 187 | { bandera=1; |
Meli | 0:6725cd84b3ad | 188 | lcd.cls(); |
Meli | 0:6725cd84b3ad | 189 | p=1; |
Meli | 0:6725cd84b3ad | 190 | lcd.locate(8,0); |
Meli | 0:6725cd84b3ad | 191 | lcd.printf("kp=%d",kp); |
Meli | 0:6725cd84b3ad | 192 | lcd.locate(0,1); |
Meli | 0:6725cd84b3ad | 193 | lcd.printf("Ki=%d", ki); |
Meli | 0:6725cd84b3ad | 194 | lcd.locate(8,1); |
Meli | 0:6725cd84b3ad | 195 | lcd.printf("Kd=%d", kd); |
Meli | 0:6725cd84b3ad | 196 | lcd.locate(0,0); |
Meli | 0:6725cd84b3ad | 197 | lcd.printf("Sp=%d", sp); |
Meli | 0:6725cd84b3ad | 198 | |
Meli | 0:6725cd84b3ad | 199 | } |
Meli | 0:6725cd84b3ad | 200 | |
Meli | 0:6725cd84b3ad | 201 | |
Meli | 0:6725cd84b3ad | 202 | } |
Meli | 0:6725cd84b3ad | 203 | bandera = 0; |
Meli | 0:6725cd84b3ad | 204 | } |
Meli | 0:6725cd84b3ad | 205 | |
Meli | 0:6725cd84b3ad | 206 | |
Meli | 0:6725cd84b3ad | 207 | |
Meli | 0:6725cd84b3ad | 208 | } |
Meli | 0:6725cd84b3ad | 209 | |
Meli | 0:6725cd84b3ad | 210 |