Rob Andon / Mbed 2 deprecated EECKTclassicalcontrol

Classical Control

Dependencies:   mbed

main.cpp@0:031c505c5d69, 2013-11-20 (annotated)

Committer:
RANDON
Date:
Wed Nov 20 16:40:47 2013 +0000
Revision:
0:031c505c5d69
Classic

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RANDON 0:031c505c5d69 1 #include "mbed.h"
RANDON 0:031c505c5d69 2
RANDON 0:031c505c5d69 3 Timer t;
RANDON 0:031c505c5d69 4
RANDON 0:031c505c5d69 5 AnalogIn ain_v1(p20);
RANDON 0:031c505c5d69 6 AnalogIn ain_v2(p19);
RANDON 0:031c505c5d69 7 AnalogOut aout(p18);
RANDON 0:031c505c5d69 8
RANDON 0:031c505c5d69 9 int main()
RANDON 0:031c505c5d69 10 {
RANDON 0:031c505c5d69 11 float t1, t2;
RANDON 0:031c505c5d69 12 float V1, V1scaled;
RANDON 0:031c505c5d69 13 float V2, V2scaled;
RANDON 0:031c505c5d69 14 float Cmbed;
RANDON 0:031c505c5d69 15
RANDON 0:031c505c5d69 16 float Cout, Cout1, Cout2;
RANDON 0:031c505c5d69 17 float e, e1, e2;
RANDON 0:031c505c5d69 18 float V2Ref;
RANDON 0:031c505c5d69 19 float controlfreq, delaytime;
RANDON 0:031c505c5d69 20
RANDON 0:031c505c5d69 21 // Initialize variables
RANDON 0:031c505c5d69 22 Cout1 = 0.0;
RANDON 0:031c505c5d69 23 Cout2 = 0.0;
RANDON 0:031c505c5d69 24 e1 = 0.0;
RANDON 0:031c505c5d69 25 e2 = 0.0;
RANDON 0:031c505c5d69 26
RANDON 0:031c505c5d69 27 // Starts timer
RANDON 0:031c505c5d69 28 t.start();
RANDON 0:031c505c5d69 29 while(t.read()<10.0)
RANDON 0:031c505c5d69 30 {
RANDON 0:031c505c5d69 31
RANDON 0:031c505c5d69 32 t1 = t.read(); // Gets elapsed time from when t.start() was done.
RANDON 0:031c505c5d69 33
RANDON 0:031c505c5d69 34 // Sense
RANDON 0:031c505c5d69 35 V1scaled = ain_v1.read()*3.3; // 0.0<ain.read()<1.0. Normalized voltage. / Multiple by 3.3 to get voltage.
RANDON 0:031c505c5d69 36 V1 = (V1scaled-1.65)*6.06; // Re-calculate actual V1(t) voltage.
RANDON 0:031c505c5d69 37
RANDON 0:031c505c5d69 38 V2scaled = ain_v2.read()*3.3; // 0.0<ain.read()<1.0. Normalized voltage. Multiple by 3.3 to get voltage.
RANDON 0:031c505c5d69 39 V2 = (V2scaled-1.65)*6.06; // Re-calculate actual V1(t) voltage.
RANDON 0:031c505c5d69 40
RANDON 0:031c505c5d69 41 // Decide
RANDON 0:031c505c5d69 42
RANDON 0:031c505c5d69 43 // Reference voltage
RANDON 0:031c505c5d69 44 V2Ref = 2.0; // (V)
RANDON 0:031c505c5d69 45
RANDON 0:031c505c5d69 46 // Error signal
RANDON 0:031c505c5d69 47 e = V2Ref-V2; // (V)
RANDON 0:031c505c5d69 48
RANDON 0:031c505c5d69 49 // Commanded voltage (V)
RANDON 0:031c505c5d69 50 Cout = (1.948051948051948)*Cout1+(-0.948051948051948)*Cout2+(0.00746223086813)*e+(-0.008291367631262)*e1+(0.002211031368337)*e2;
RANDON 0:031c505c5d69 51 //Cout =(1.96078)*Cout1+(-0.96078)*Cout2+(0.01027)*e+(-0.01539)*e1+(0.00571)*e2;
RANDON 0:031c505c5d69 52
RANDON 0:031c505c5d69 53 // Age variables
RANDON 0:031c505c5d69 54 Cout2 = Cout1;
RANDON 0:031c505c5d69 55 Cout1 = Cout;
RANDON 0:031c505c5d69 56 e2 = e1;
RANDON 0:031c505c5d69 57 e1 = e;
RANDON 0:031c505c5d69 58
RANDON 0:031c505c5d69 59 // Actuate
RANDON 0:031c505c5d69 60 Cmbed = Cout/6.06+1.65; // Scale to 0<Cmbed<3.3
RANDON 0:031c505c5d69 61
RANDON 0:031c505c5d69 62 // Saturate Cmbed for safety
RANDON 0:031c505c5d69 63 if(Cmbed>3.3)
RANDON 0:031c505c5d69 64 Cmbed = 3.3;
RANDON 0:031c505c5d69 65 if(Cmbed<0.0)
RANDON 0:031c505c5d69 66 Cmbed = 0.0;
RANDON 0:031c505c5d69 67
RANDON 0:031c505c5d69 68 // Cmbed = 1.65; // Must be between 0<Cmbed<3.3
RANDON 0:031c505c5d69 69 aout.write(Cmbed/3.3); // 0<aout<1. Normalized voltage
RANDON 0:031c505c5d69 70 t2 = t.read();
RANDON 0:031c505c5d69 71
RANDON 0:031c505c5d69 72 controlfreq = 100;
RANDON 0:031c505c5d69 73
RANDON 0:031c505c5d69 74 //log variable for plotting
RANDON 0:031c505c5d69 75
RANDON 0:031c505c5d69 76 printf("v1 = %.4f, v2 = %.4f, Cmbed = %.4f, Cout = %f\n\r",V1,V2,Cmbed,Cout);
RANDON 0:031c505c5d69 77 delaytime =(1/(controlfreq)-(t2-t1)); // Make routine run at 0.01 (sec)
RANDON 0:031c505c5d69 78 wait(delaytime);
RANDON 0:031c505c5d69 79 }
RANDON 0:031c505c5d69 80 }