En este programa se presenta un PID modificando los valores a traves de un encoder
Dependencies: QEI TextLCD mbed
main.cpp@0:fb37cd782170, 2013-11-13 (annotated)
- Committer:
- amarincan
- Date:
- Wed Nov 13 02:59:07 2013 +0000
- Revision:
- 0:fb37cd782170
PID con encoder
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
amarincan | 0:fb37cd782170 | 1 | #include "mbed.h" |
amarincan | 0:fb37cd782170 | 2 | #include "DebouncedIn.h" |
amarincan | 0:fb37cd782170 | 3 | #include "TextLCD.h" |
amarincan | 0:fb37cd782170 | 4 | #include "QEI.h" |
amarincan | 0:fb37cd782170 | 5 | |
amarincan | 0:fb37cd782170 | 6 | AnalogIn Vin(PTC2); |
amarincan | 0:fb37cd782170 | 7 | AnalogOut Vout(PTE30); |
amarincan | 0:fb37cd782170 | 8 | |
amarincan | 0:fb37cd782170 | 9 | QEI wheel (PTA16, PTA17, NC, 24); |
amarincan | 0:fb37cd782170 | 10 | TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7 |
amarincan | 0:fb37cd782170 | 11 | |
amarincan | 0:fb37cd782170 | 12 | DigitalOut led1(LED1); |
amarincan | 0:fb37cd782170 | 13 | DigitalOut led2(LED2); |
amarincan | 0:fb37cd782170 | 14 | DebouncedIn button1(PTC12); |
amarincan | 0:fb37cd782170 | 15 | DebouncedIn button2(PTC13); |
amarincan | 0:fb37cd782170 | 16 | DebouncedIn button3(PTC16); |
amarincan | 0:fb37cd782170 | 17 | DebouncedIn button4(PTC17); |
amarincan | 0:fb37cd782170 | 18 | |
amarincan | 0:fb37cd782170 | 19 | /* codigos movimiento del curzor |
amarincan | 0:fb37cd782170 | 20 | 18 para izquierda |
amarincan | 0:fb37cd782170 | 21 | 1A para derecha |
amarincan | 0:fb37cd782170 | 22 | */ |
amarincan | 0:fb37cd782170 | 23 | |
amarincan | 0:fb37cd782170 | 24 | |
amarincan | 0:fb37cd782170 | 25 | int C1=0x0E; // solo muestra el curzor |
amarincan | 0:fb37cd782170 | 26 | int C2=0x18; // desplaza izquierda |
amarincan | 0:fb37cd782170 | 27 | int C3=0x1A; // desplaza derecha |
amarincan | 0:fb37cd782170 | 28 | int C4=0x0C; // quito cursor bajo |
amarincan | 0:fb37cd782170 | 29 | int i; // indice de la variable |
amarincan | 0:fb37cd782170 | 30 | int j; |
amarincan | 0:fb37cd782170 | 31 | int Kp, Ki, Kd, Sp, yr, cycle, med2 , c,v,m; |
amarincan | 0:fb37cd782170 | 32 | float med,pid,ap, err, ai, ad,err_v; |
amarincan | 0:fb37cd782170 | 33 | int main() { |
amarincan | 0:fb37cd782170 | 34 | |
amarincan | 0:fb37cd782170 | 35 | lcd.writeCommand(0x0E); |
amarincan | 0:fb37cd782170 | 36 | lcd.printf("Sp=0 Kp=0"); |
amarincan | 0:fb37cd782170 | 37 | lcd.locate(0,1); |
amarincan | 0:fb37cd782170 | 38 | lcd.printf("Ki=0 Kd=0"); |
amarincan | 0:fb37cd782170 | 39 | lcd.locate(2,0); |
amarincan | 0:fb37cd782170 | 40 | lcd.printf("="); |
amarincan | 0:fb37cd782170 | 41 | |
amarincan | 0:fb37cd782170 | 42 | while(1) { |
amarincan | 0:fb37cd782170 | 43 | |
amarincan | 0:fb37cd782170 | 44 | m=wheel.getPulses(); |
amarincan | 0:fb37cd782170 | 45 | if(m<0){ |
amarincan | 0:fb37cd782170 | 46 | wheel.reset(); |
amarincan | 0:fb37cd782170 | 47 | m=0; |
amarincan | 0:fb37cd782170 | 48 | } |
amarincan | 0:fb37cd782170 | 49 | if(m!=v) { |
amarincan | 0:fb37cd782170 | 50 | |
amarincan | 0:fb37cd782170 | 51 | switch(i) { |
amarincan | 0:fb37cd782170 | 52 | |
amarincan | 0:fb37cd782170 | 53 | case 0: |
amarincan | 0:fb37cd782170 | 54 | |
amarincan | 0:fb37cd782170 | 55 | lcd.locate(2,0); |
amarincan | 0:fb37cd782170 | 56 | lcd.printf("= "); |
amarincan | 0:fb37cd782170 | 57 | lcd.locate(3,0); |
amarincan | 0:fb37cd782170 | 58 | lcd.printf("%d",m); |
amarincan | 0:fb37cd782170 | 59 | Sp=m; |
amarincan | 0:fb37cd782170 | 60 | |
amarincan | 0:fb37cd782170 | 61 | break; |
amarincan | 0:fb37cd782170 | 62 | case 1: |
amarincan | 0:fb37cd782170 | 63 | |
amarincan | 0:fb37cd782170 | 64 | lcd.locate(10,0); |
amarincan | 0:fb37cd782170 | 65 | lcd.printf("= "); |
amarincan | 0:fb37cd782170 | 66 | lcd.locate(11,0); |
amarincan | 0:fb37cd782170 | 67 | lcd.printf("%d",m); |
amarincan | 0:fb37cd782170 | 68 | Kp=m; |
amarincan | 0:fb37cd782170 | 69 | break; |
amarincan | 0:fb37cd782170 | 70 | case 2: |
amarincan | 0:fb37cd782170 | 71 | lcd.locate(2,1); |
amarincan | 0:fb37cd782170 | 72 | lcd.printf("= "); |
amarincan | 0:fb37cd782170 | 73 | lcd.locate(3,1); |
amarincan | 0:fb37cd782170 | 74 | lcd.printf("%d",m); |
amarincan | 0:fb37cd782170 | 75 | Ki=m; |
amarincan | 0:fb37cd782170 | 76 | break; |
amarincan | 0:fb37cd782170 | 77 | case 3: |
amarincan | 0:fb37cd782170 | 78 | lcd.locate(10,1); |
amarincan | 0:fb37cd782170 | 79 | lcd.printf("= "); |
amarincan | 0:fb37cd782170 | 80 | lcd.locate(11,1); |
amarincan | 0:fb37cd782170 | 81 | lcd.printf("%d",m); |
amarincan | 0:fb37cd782170 | 82 | Kd=m; |
amarincan | 0:fb37cd782170 | 83 | break; |
amarincan | 0:fb37cd782170 | 84 | } |
amarincan | 0:fb37cd782170 | 85 | v=m; |
amarincan | 0:fb37cd782170 | 86 | |
amarincan | 0:fb37cd782170 | 87 | } |
amarincan | 0:fb37cd782170 | 88 | |
amarincan | 0:fb37cd782170 | 89 | |
amarincan | 0:fb37cd782170 | 90 | if(button3.falling()) { |
amarincan | 0:fb37cd782170 | 91 | wheel.reset(); |
amarincan | 0:fb37cd782170 | 92 | i++; |
amarincan | 0:fb37cd782170 | 93 | if(i>3) { |
amarincan | 0:fb37cd782170 | 94 | i=0; |
amarincan | 0:fb37cd782170 | 95 | } |
amarincan | 0:fb37cd782170 | 96 | switch (i) { |
amarincan | 0:fb37cd782170 | 97 | case 0: |
amarincan | 0:fb37cd782170 | 98 | lcd.locate(2,0); |
amarincan | 0:fb37cd782170 | 99 | lcd.printf("="); |
amarincan | 0:fb37cd782170 | 100 | break; |
amarincan | 0:fb37cd782170 | 101 | case 1: |
amarincan | 0:fb37cd782170 | 102 | lcd.locate(10,0); |
amarincan | 0:fb37cd782170 | 103 | lcd.printf("="); |
amarincan | 0:fb37cd782170 | 104 | break; |
amarincan | 0:fb37cd782170 | 105 | case 2: |
amarincan | 0:fb37cd782170 | 106 | lcd.locate(2,1); |
amarincan | 0:fb37cd782170 | 107 | lcd.printf("="); |
amarincan | 0:fb37cd782170 | 108 | break; |
amarincan | 0:fb37cd782170 | 109 | case 3: |
amarincan | 0:fb37cd782170 | 110 | lcd.locate(10,1); |
amarincan | 0:fb37cd782170 | 111 | lcd.printf("="); |
amarincan | 0:fb37cd782170 | 112 | break; |
amarincan | 0:fb37cd782170 | 113 | } |
amarincan | 0:fb37cd782170 | 114 | } |
amarincan | 0:fb37cd782170 | 115 | |
amarincan | 0:fb37cd782170 | 116 | |
amarincan | 0:fb37cd782170 | 117 | if (button4.falling()){ |
amarincan | 0:fb37cd782170 | 118 | break; //sale del bucle si pisan suiche4 |
amarincan | 0:fb37cd782170 | 119 | } |
amarincan | 0:fb37cd782170 | 120 | |
amarincan | 0:fb37cd782170 | 121 | } |
amarincan | 0:fb37cd782170 | 122 | lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD para quitar cursor bajo |
amarincan | 0:fb37cd782170 | 123 | lcd.cls(); //borra la pantalla |
amarincan | 0:fb37cd782170 | 124 | lcd.printf(" GUARDADOS!"); |
amarincan | 0:fb37cd782170 | 125 | wait(2); |
amarincan | 0:fb37cd782170 | 126 | lcd.cls(); |
amarincan | 0:fb37cd782170 | 127 | lcd.printf(" INICIA EL PID"); |
amarincan | 0:fb37cd782170 | 128 | wait(2); |
amarincan | 0:fb37cd782170 | 129 | // se imprimen los parches del control ***************************************** |
amarincan | 0:fb37cd782170 | 130 | lcd.cls(); |
amarincan | 0:fb37cd782170 | 131 | |
amarincan | 0:fb37cd782170 | 132 | |
amarincan | 0:fb37cd782170 | 133 | lcd.printf("Er%d",err); |
amarincan | 0:fb37cd782170 | 134 | lcd.locate(8,0); |
amarincan | 0:fb37cd782170 | 135 | lcd.printf("Me%d",med2); |
amarincan | 0:fb37cd782170 | 136 | lcd.locate(0,1); |
amarincan | 0:fb37cd782170 | 137 | lcd.printf("Sp%d",Sp); |
amarincan | 0:fb37cd782170 | 138 | lcd.locate(8,1); |
amarincan | 0:fb37cd782170 | 139 | lcd.printf("Pid%d",pid); |
amarincan | 0:fb37cd782170 | 140 | //wait(5); |
amarincan | 0:fb37cd782170 | 141 | |
amarincan | 0:fb37cd782170 | 142 | // CICLO PRINCIPAL CONTROLADOR PID |
amarincan | 0:fb37cd782170 | 143 | |
amarincan | 0:fb37cd782170 | 144 | while(1) { |
amarincan | 0:fb37cd782170 | 145 | //leer puerto analogo y asignar a med |
amarincan | 0:fb37cd782170 | 146 | med=Vin.read(); |
amarincan | 0:fb37cd782170 | 147 | med2=med*100; |
amarincan | 0:fb37cd782170 | 148 | err = (Sp-med2); |
amarincan | 0:fb37cd782170 | 149 | float kp2; |
amarincan | 0:fb37cd782170 | 150 | kp2=Kp*0.001; |
amarincan | 0:fb37cd782170 | 151 | ap = kp2*err; |
amarincan | 0:fb37cd782170 | 152 | float ki2; |
amarincan | 0:fb37cd782170 | 153 | ki2=Ki*0.001; |
amarincan | 0:fb37cd782170 | 154 | ai =(ki2*err)+ai; //calculo de la integral del error |
amarincan | 0:fb37cd782170 | 155 | float kd2; |
amarincan | 0:fb37cd782170 | 156 | kd2=Kd*0.0001; |
amarincan | 0:fb37cd782170 | 157 | ad = kd2*(err-err_v); //calculo de la accion derivativa |
amarincan | 0:fb37cd782170 | 158 | err_v=err; //guarda el error |
amarincan | 0:fb37cd782170 | 159 | pid = (ap+ai+ad); |
amarincan | 0:fb37cd782170 | 160 | |
amarincan | 0:fb37cd782170 | 161 | // se verifica que pid sea menor o igual la valor maximo ***************** |
amarincan | 0:fb37cd782170 | 162 | if (pid > .99999){ |
amarincan | 0:fb37cd782170 | 163 | pid=1; |
amarincan | 0:fb37cd782170 | 164 | } |
amarincan | 0:fb37cd782170 | 165 | |
amarincan | 0:fb37cd782170 | 166 | // se verifica que pid sea positivo ************************************** |
amarincan | 0:fb37cd782170 | 167 | if (pid <0){ |
amarincan | 0:fb37cd782170 | 168 | pid=0; |
amarincan | 0:fb37cd782170 | 169 | } |
amarincan | 0:fb37cd782170 | 170 | |
amarincan | 0:fb37cd782170 | 171 | //wait(.5); |
amarincan | 0:fb37cd782170 | 172 | |
amarincan | 0:fb37cd782170 | 173 | |
amarincan | 0:fb37cd782170 | 174 | |
amarincan | 0:fb37cd782170 | 175 | // se verifica que la accion integral no sea muy grande |
amarincan | 0:fb37cd782170 | 176 | if (ai > 999){ |
amarincan | 0:fb37cd782170 | 177 | ai=1000; |
amarincan | 0:fb37cd782170 | 178 | } |
amarincan | 0:fb37cd782170 | 179 | |
amarincan | 0:fb37cd782170 | 180 | |
amarincan | 0:fb37cd782170 | 181 | Vout=pid; |
amarincan | 0:fb37cd782170 | 182 | |
amarincan | 0:fb37cd782170 | 183 | |
amarincan | 0:fb37cd782170 | 184 | //****se muestran las variables****************************************** |
amarincan | 0:fb37cd782170 | 185 | if(c>600){ |
amarincan | 0:fb37cd782170 | 186 | lcd.locate(2,0); |
amarincan | 0:fb37cd782170 | 187 | lcd.printf(" "); |
amarincan | 0:fb37cd782170 | 188 | lcd.locate(0,0); |
amarincan | 0:fb37cd782170 | 189 | lcd.printf("Er%2.2f",err); |
amarincan | 0:fb37cd782170 | 190 | lcd.locate(10,0); |
amarincan | 0:fb37cd782170 | 191 | lcd.printf(" "); |
amarincan | 0:fb37cd782170 | 192 | lcd.locate(8,0); |
amarincan | 0:fb37cd782170 | 193 | lcd.printf("Me%d",med2); |
amarincan | 0:fb37cd782170 | 194 | lcd.locate(2,1); |
amarincan | 0:fb37cd782170 | 195 | lcd.printf(" "); |
amarincan | 0:fb37cd782170 | 196 | lcd.locate(0,1); |
amarincan | 0:fb37cd782170 | 197 | lcd.printf("Sp%d",Sp); |
amarincan | 0:fb37cd782170 | 198 | lcd.locate(10,1); |
amarincan | 0:fb37cd782170 | 199 | lcd.printf(" "); |
amarincan | 0:fb37cd782170 | 200 | lcd.locate(8,1); |
amarincan | 0:fb37cd782170 | 201 | lcd.printf("Pid%4.3f",pid); |
amarincan | 0:fb37cd782170 | 202 | c=0; |
amarincan | 0:fb37cd782170 | 203 | } |
amarincan | 0:fb37cd782170 | 204 | else |
amarincan | 0:fb37cd782170 | 205 | c++; |
amarincan | 0:fb37cd782170 | 206 | |
amarincan | 0:fb37cd782170 | 207 | |
amarincan | 0:fb37cd782170 | 208 | |
amarincan | 0:fb37cd782170 | 209 | |
amarincan | 0:fb37cd782170 | 210 | |
amarincan | 0:fb37cd782170 | 211 | |
amarincan | 0:fb37cd782170 | 212 | |
amarincan | 0:fb37cd782170 | 213 | // se envia el valor pid a puerto analogico de salida (D/A) ************** |
amarincan | 0:fb37cd782170 | 214 | // se repite el ciclo |
amarincan | 0:fb37cd782170 | 215 | } |
amarincan | 0:fb37cd782170 | 216 | } |