SS implementation almost completed

Dependencies:   Matrix MatrixMath mbed

Files at this revision

API Documentation at this revision

Comitter:
RANDON
Date:
Thu Nov 21 16:21:13 2013 +0000
Commit message:
SS Implementation;

Changed in this revision

Matrix.lib Show annotated file Show diff for this revision Revisions of this file
MatrixMath.lib Show annotated file Show diff for this revision Revisions of this file
Wizadryfinal.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 1891695993b8 Matrix.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Matrix.lib	Thu Nov 21 16:21:13 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Yo_Robot/code/Matrix/#a4014ab0a8cf
diff -r 000000000000 -r 1891695993b8 MatrixMath.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MatrixMath.lib	Thu Nov 21 16:21:13 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Yo_Robot/code/MatrixMath/#93948a9bbde2
diff -r 000000000000 -r 1891695993b8 Wizadryfinal.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Wizadryfinal.cpp	Thu Nov 21 16:21:13 2013 +0000
@@ -0,0 +1,134 @@
+// State Space Implementation on MBED Processor
+// Created by Rob Andon and Caleb Gerad
+// Last updated 21 NOV 13
+
+#include "mbed.h"
+#include "Matrix.h"
+#include "MatrixMath.h"
+ 
+Timer     t;
+ 
+AnalogIn   ain_v1(p20);
+AnalogIn   ain_v2(p19);
+AnalogOut  aout(p18);
+
+int main()
+{
+
+Matrix A(2,2);
+Matrix B(2,1);
+Matrix x(2,1);
+Matrix e(2,1);
+Matrix K(2,2);
+Matrix xRef(2,1);
+Matrix xRefdot(2,1);
+Matrix BpseudoInverse(1,2);
+Matrix BT(1,2);
+Matrix BW(1,1);
+//Matrix BI(1,1);
+Matrix Cout(1,1);
+
+
+  float t1,   t2;
+  float V1,   V1scaled;
+  float V2,   V2scaled;
+  float Cmbed;
+  float V2Ref;
+  float controlfreq, delaytime;
+  float rf1, rf2, ri1, ri2,cf1, cf2;
+  float Ts, k1, k2;
+  float Cout1;
+  float BW1;
+  float BI;
+ 
+  
+  //Define the model's variables
+  rf1 = 510000.0; //(Ohms)
+  rf2 = 130000.0; //(Ohms)
+  ri1 = 180000.0; //(Ohms)
+  ri2 = 180000.0; //(Ohms)
+  cf1 = 0.0000001; //(F)
+  cf2 = 0.0000001; //(F)
+
+  // Matrix Declaration
+   A   << (-1/(rf1*cf1))  << 0  
+       << (-1/(ri1*cf2))  << (-1/(rf2*cf2)); 
+   
+   B   << (-1/(ri1*cf1))   
+       << 0 ; 
+  
+  xRef  << (-ri2/rf2)*2.0
+        << 2.0;  
+   
+  xRefdot << 0.0
+          << 0.0;
+   
+  // Starts timer
+  t.start();
+  while(t.read()<10.0)
+  {
+  
+  t1 = t.read();                // Gets elapsed time from when t.start() was done. 
+ 
+ //==========================================Sense=========================================================================
+ 
+  V1scaled = ain_v1.read()*3.3; // 0.0<ain.read()<1.0. Normalized voltage. / Multiple by 3.3 to get voltage.   
+  V1 = (V1scaled-1.65)*6.06;    // Re-calculate actual V1(t) voltage.
+      
+  V2scaled = ain_v2.read()*3.3; // 0.0<ain.read()<1.0. Normalized voltage. Multiple by 3.3 to get voltage.   
+  V2 = (V2scaled-1.65)*6.06;    // Re-calculate actual V1(t) voltage.
+  
+//==========================================Decide=========================================================================
+  
+  //Error Calculations
+  x << V1
+    << V2;
+    
+  e              = xRef-x;
+  Ts             = 0.3;          //(sec) settling time
+  k1             = 4/Ts;
+  k2             = 4/Ts;
+  K <<k1 <<k2
+    << 0.0 << 0.0;
+    
+  // Wizardry Shiz Below...........    
+   
+   BT << (-1/(ri1*cf1))  << 0 ; // 1x2
+   
+   BW = BT*B;                  // 1x1 = 1x2*2x1
+   
+   BW1 = BW(1,1); //scalar
+   
+   BI = 1/(BW1);
+   
+     
+  BpseudoInverse = BT*BI; //1x2 * 1x1
+  
+ Cout = BpseudoInverse*(xRefdot-A*x+K*e);
+ 
+  //             1X2 * (2X1 - 2X1+2x1) = 1*1
+  Cout1 =   Cout( 1, 1 );
+ 
+//==========================================Actuate=========================================================================
+ 
+  Cmbed = Cout1/6.06+1.65; // Scale to 0<Cmbed<3.3
+  
+  // Saturate Cmbed for safety
+  if(Cmbed>3.3)
+    Cmbed = 3.3;
+  if(Cmbed<0.0)
+    Cmbed = 0.0;
+  
+  // Cmbed = 1.65;        // Must be between 0<Cmbed<3.3
+  aout.write(Cmbed/3.3);  // 0<aout<1. Normalized voltage
+  t2 = t.read();
+    
+  //log variable for plotting
+  
+   printf("v1 = %.4f, v2 = %.4f, Cmbed = %.4f, Cout = %f\n\r",V1,V2,Cmbed,Cout1);
+  //======================================Logging Variable====================================================================
+  
+   }
+}
+
+
diff -r 000000000000 -r 1891695993b8 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Nov 21 16:21:13 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f
\ No newline at end of file