Ruprecht Altenburger / Mbed OS simple_program

Simple program for introduction of mirror actuator.

ControllerLoop.cpp@10:bfacffec199a, 2021-04-28 (annotated)

Committer:
altb2
Date:
Wed Apr 28 08:26:37 2021 +0000
Revision:
10:bfacffec199a
Parent:
8:49ac75c42da0
Child:
11:d43f8b421d6d
template 1;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 5:768e10f6d372 1 #include "ControllerLoop.h"
altb2 5:768e10f6d372 2 using namespace std;
altb2 5:768e10f6d372 3
altb2 10:bfacffec199a 4 // contructor for controller loop
altb2 10:bfacffec199a 5 ControllerLoop::ControllerLoop(float Ts) : thread(osPriorityHigh,4096), dout1(PB_9)
altb2 5:768e10f6d372 6 {
altb2 6:9ebeffe446e4 7 this->Ts = Ts;
altb2 5:768e10f6d372 8 diff1.reset(0.0f,0);
altb2 5:768e10f6d372 9 diff2.reset(0.0f,0);
altb2 6:9ebeffe446e4 10 is_initialized = false;
altb2 6:9ebeffe446e4 11 ti.reset();
altb2 6:9ebeffe446e4 12 ti.start();
altb2 7:942fd77d5e19 13 data.laser_on = false;
altb2 5:768e10f6d372 14 }
altb2 5:768e10f6d372 15
altb2 10:bfacffec199a 16 // decontructor for controller loop
altb2 5:768e10f6d372 17 ControllerLoop::~ControllerLoop() {}
altb2 5:768e10f6d372 18
altb2 10:bfacffec199a 19 // ----------------------------------------------------------------------------
altb2 10:bfacffec199a 20 // this is the main loop called every Ts with high priority
altb2 5:768e10f6d372 21 void ControllerLoop::loop(void){
altb2 8:49ac75c42da0 22 float w01=2*3.1415927 * 8;
altb2 8:49ac75c42da0 23 float xy[2];
altb2 5:768e10f6d372 24 while(1)
altb2 5:768e10f6d372 25 {
altb2 5:768e10f6d372 26 ThisThread::flags_wait_any(threadFlag);
altb2 5:768e10f6d372 27 // THE LOOP ------------------------------------------------------------
altb2 10:bfacffec199a 28 short c1 = counter1 - index1.positionAtIndexPulse - mk.inc_offset[0]- mk.inc_additional_offset[0]; // get counts from Encoder
altb2 10:bfacffec199a 29 short c2 = counter2 - index2.positionAtIndexPulse - mk.inc_offset[1]- mk.inc_additional_offset[1]; // get counts from Encoder
altb2 10:bfacffec199a 30 data.sens_phi[0] = uw2pi1(2.0f*3.1415927f/4000.0f*(float)c1);
altb2 10:bfacffec199a 31 data.sens_Vphi[0] = diff1(c1); // motor velocity
altb2 10:bfacffec199a 32 data.sens_phi[1] = uw2pi2(2.0f*3.1415927f/4000.0f*(float)c2);
altb2 10:bfacffec199a 33 data.sens_Vphi[1] = diff2(c2); // motor velocity
altb2 10:bfacffec199a 34 // -------------------------------------------------------------
altb2 10:bfacffec199a 35 // at very beginning: move system slowly to find the zero pulse
altb2 10:bfacffec199a 36 // set "if(0)" if you like to ommit at beginning
altb2 7:942fd77d5e19 37 if(!is_initialized)
altb2 6:9ebeffe446e4 38 {
altb2 6:9ebeffe446e4 39 find_index();
altb2 6:9ebeffe446e4 40 if(index1.positionAtIndexPulse != 0 && index2.positionAtIndexPulse != 0)
altb2 6:9ebeffe446e4 41 is_initialized=true;
altb2 5:768e10f6d372 42 }
altb2 6:9ebeffe446e4 43 else
altb2 6:9ebeffe446e4 44 {
altb2 7:942fd77d5e19 45 // ------------------------ do the control first
altb2 7:942fd77d5e19 46 float v_des1 = pos_cntrl(data.cntrl_phi_des[0]-data.sens_phi[0]);
altb2 8:49ac75c42da0 47 float v_des2 = pos_cntrl(data.cntrl_phi_des[1]-data.sens_phi[1]);//-150.0f*(1+.5f*cosf(w01*glob_ti.read()));
altb2 7:942fd77d5e19 48 data.i_des[0] = v_cntrl[0](v_des1 - data.sens_Vphi[0] ) ;
altb2 7:942fd77d5e19 49 data.i_des[1] = v_cntrl[1](v_des2 - data.sens_Vphi[1] ) ;
altb2 7:942fd77d5e19 50 // ------------------------ write outputs
altb2 7:942fd77d5e19 51 i_des1.write(i2u(data.i_des[0]));
altb2 7:942fd77d5e19 52 i_des2.write(i2u(data.i_des[1]));
altb2 8:49ac75c42da0 53 //exc =myGPA(data.i_des[1],data.sens_Vphi[1]);
altb2 8:49ac75c42da0 54 //exc = myGPA(data.i_des[1],u2i(i_act2.read()));
altb2 7:942fd77d5e19 55 // now do trafos etc
altb2 7:942fd77d5e19 56
altb2 7:942fd77d5e19 57 if(mk.external_control) // get desired values from external source (GUI)
altb2 7:942fd77d5e19 58 {
altb2 7:942fd77d5e19 59 if(mk.trafo_is_on) // use desired xy values from xternal source and transform
altb2 7:942fd77d5e19 60 // otherwise external source delivers phi1, phi2 values directly
altb2 7:942fd77d5e19 61 {
altb2 7:942fd77d5e19 62 bool dum = mk.X2P(data.cntrl_xy_des,data.cntrl_phi_des);
altb2 7:942fd77d5e19 63 }
altb2 7:942fd77d5e19 64 }
altb2 7:942fd77d5e19 65 else
altb2 7:942fd77d5e19 66 {
altb2 7:942fd77d5e19 67 if(mk.trafo_is_on)
altb2 7:942fd77d5e19 68 {
altb2 8:49ac75c42da0 69 data.cntrl_xy_des[0] = 30.0f*cosf(w01*glob_ti.read());
altb2 8:49ac75c42da0 70 data.cntrl_xy_des[1] = 30.0f*sinf(w01*glob_ti.read());
altb2 7:942fd77d5e19 71 bool dum = mk.X2P(data.cntrl_xy_des,data.cntrl_phi_des);
altb2 7:942fd77d5e19 72 }
altb2 7:942fd77d5e19 73 else
altb2 7:942fd77d5e19 74 {
altb2 8:49ac75c42da0 75 data.cntrl_phi_des[0] = .250f*cosf(w01*glob_ti.read());
altb2 8:49ac75c42da0 76 data.cntrl_phi_des[1] = .250f*sinf(w01*glob_ti.read());
altb2 7:942fd77d5e19 77 }
altb2 7:942fd77d5e19 78 }
altb2 7:942fd77d5e19 79 //bool dum = mk.P2X(data.cntrl_phi_des,data.cntrl_xy_des)
altb2 6:9ebeffe446e4 80 //current_path->get_x_v(glob_ti.read(),&phi_des,&v_des);
altb2 6:9ebeffe446e4 81
altb2 7:942fd77d5e19 82 //data.cntrl_phi_des[0] = 0.0f*A*sinf(w01*ti.read());
altb2 7:942fd77d5e19 83 //data.cntrl_phi_des[1] = 0.0f*A*sinf(w02*ti.read());
altb2 7:942fd77d5e19 84 //data.est_xy[0]=data.cntrl_phi_des[0]; // temporary
altb2 7:942fd77d5e19 85 //data.est_xy[1]=data.cntrl_phi_des[1];
altb2 6:9ebeffe446e4 86 //laser_on = 1;
altb2 6:9ebeffe446e4 87 }
altb2 8:49ac75c42da0 88 laser_on = data.laser_on;
altb2 8:49ac75c42da0 89 i_enable = big_button;
altb2 5:768e10f6d372 90 }
altb2 5:768e10f6d372 91 }
altb2 5:768e10f6d372 92
altb2 5:768e10f6d372 93 void ControllerLoop::sendSignal() {
altb2 5:768e10f6d372 94 thread.flags_set(threadFlag);
altb2 5:768e10f6d372 95 }
altb2 6:9ebeffe446e4 96 void ControllerLoop::start_loop(void)
altb2 6:9ebeffe446e4 97 {
altb2 6:9ebeffe446e4 98 thread.start(callback(this, &ControllerLoop::loop));
altb2 6:9ebeffe446e4 99 ticker.attach(callback(this, &ControllerLoop::sendSignal), Ts);
altb2 6:9ebeffe446e4 100 }
altb2 7:942fd77d5e19 101
altb2 7:942fd77d5e19 102 float ControllerLoop::pos_cntrl(float d_phi)
altb2 7:942fd77d5e19 103 {
altb2 7:942fd77d5e19 104 return Kv*mk.mot_inc_to_rad*round(mk.mot_rad_to_inc*(d_phi));
altb2 7:942fd77d5e19 105 }
altb2 7:942fd77d5e19 106
altb2 6:9ebeffe446e4 107 void ControllerLoop::init_controllers(void)
altb2 6:9ebeffe446e4 108 {
altb2 8:49ac75c42da0 109 float Kp = 0.0158;//100 * 1.7173e-06/0.03f; // XX * J/km
altb2 8:49ac75c42da0 110 float TroV = 1.0f / (2.0f * 3.1415f * 250.0f);
altb2 8:49ac75c42da0 111 float Tn = .008f;
altb2 6:9ebeffe446e4 112 v_cntrl[0].setCoefficients(Kp,Kp/Tn,0.0f,1.0,TroV,Ts,-.8,.8);
altb2 6:9ebeffe446e4 113 v_cntrl[1].setCoefficients(Kp,Kp/Tn,0.0f,1.0,TroV,Ts,-.8,.8);
altb2 6:9ebeffe446e4 114 }
altb2 10:bfacffec199a 115 // find_index: move axis slowly to detect the zero-pulse
altb2 6:9ebeffe446e4 116 void ControllerLoop::find_index(void)
altb2 6:9ebeffe446e4 117 {
altb2 10:bfacffec199a 118 // use a simple P-controller to get system spinning, add a constant current to overcome friction
altb2 6:9ebeffe446e4 119 float Kp = 0.005;
altb2 10:bfacffec199a 120 float i1 = 0.1f + Kp*(50.0f - data.sens_Vphi[0]);
altb2 10:bfacffec199a 121 float i2 = 0.1f + Kp*(50.0f - data.sens_Vphi[1]) ;
altb2 7:942fd77d5e19 122 i_des1.write(i2u(i1));
altb2 6:9ebeffe446e4 123 i_des2.write(i2u(i2));
altb2 6:9ebeffe446e4 124 }