Astrid Schut / Mbed 2 deprecated PWMmotor

Code om de PID controller af te stellen aan de hand van een sinus golf

Dependencies:   mbed QEI MODSERIAL FastPWM biquadFilter

main.cpp@11:2375b538b631, 2019-03-22 (annotated)

Committer:
aschut
Date:
Fri Mar 22 14:45:38 2019 +0000
Revision:
11:2375b538b631
Parent:
9:aa5d6636197b
Child:
13:b7a1a4245f37
PID waardes bepaald

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aschut 0:a9a42914138c 1 #include "mbed.h"
aschut 2:926d56babb1a 2 #include "MODSERIAL.h"
aschut 4:99f7fdce608e 3 #include "QEI.h"
aschut 6:14a9c4f30c86 4 #include "BiQuad.h"
aschut 4:99f7fdce608e 5
aschut 4:99f7fdce608e 6 // Algemeen
aschut 1:58f34947c674 7 DigitalIn button2(SW2);
aschut 1:58f34947c674 8 DigitalIn button3(SW3);
aschut 7:9a1007e35bac 9 AnalogIn But2(A5);
aschut 7:9a1007e35bac 10 AnalogIn But1(A3);
aschut 2:926d56babb1a 11 DigitalOut led(LED_GREEN);
aschut 2:926d56babb1a 12 DigitalOut led2(LED_RED);
aschut 4:99f7fdce608e 13 DigitalOut led3(LED_BLUE);
aschut 2:926d56babb1a 14 MODSERIAL pc(USBTX, USBRX);
aschut 2:926d56babb1a 15
aschut 4:99f7fdce608e 16 //Motoren
aschut 0:a9a42914138c 17 DigitalOut direction1(D4);
aschut 0:a9a42914138c 18 PwmOut pwmpin1(D5);
aschut 0:a9a42914138c 19 PwmOut pwmpin2(D6);
aschut 0:a9a42914138c 20 DigitalOut direction2(D7);
aschut 9:aa5d6636197b 21 volatile float pwm1;
aschut 4:99f7fdce608e 22 volatile float pwm2;
aschut 4:99f7fdce608e 23
aschut 4:99f7fdce608e 24 //Encoder
aschut 9:aa5d6636197b 25 QEI encoder1 (D10, D9, NC, 1200, QEI::X4_ENCODING);
aschut 9:aa5d6636197b 26 QEI encoder2 (D13, D12, NC, 4800, QEI::X4_ENCODING);
aschut 9:aa5d6636197b 27 double Pulses1;
aschut 9:aa5d6636197b 28 double motor_position1;
aschut 6:14a9c4f30c86 29 double Pulses2;
aschut 6:14a9c4f30c86 30 double motor_position2;
aschut 9:aa5d6636197b 31 double error1;
aschut 2:926d56babb1a 32
aschut 2:926d56babb1a 33 //Pot meter
aschut 1:58f34947c674 34 AnalogIn pot(A1);
aschut 6:14a9c4f30c86 35 AnalogIn pot0(A0);
aschut 4:99f7fdce608e 36 float Pot2;
aschut 6:14a9c4f30c86 37 float Pot1;
aschut 4:99f7fdce608e 38
aschut 4:99f7fdce608e 39 //Ticker
aschut 4:99f7fdce608e 40 Ticker Pwm;
aschut 2:926d56babb1a 41 Ticker PotRead;
aschut 7:9a1007e35bac 42 Ticker Kdc;
aschut 6:14a9c4f30c86 43
aschut 0:a9a42914138c 44
aschut 5:4b25551aeb6e 45 //Kinematica
aschut 9:aa5d6636197b 46 double stap1;
aschut 9:aa5d6636197b 47 double stap2;
aschut 6:14a9c4f30c86 48 double KPot;
aschut 5:4b25551aeb6e 49 float KPotabs;
aschut 9:aa5d6636197b 50
aschut 5:4b25551aeb6e 51 float ElbowReference;
aschut 5:4b25551aeb6e 52 float Ellebooghoek1;
aschut 5:4b25551aeb6e 53 float Ellebooghoek2;
aschut 5:4b25551aeb6e 54 float Ellebooghoek3;
aschut 5:4b25551aeb6e 55 float Ellebooghoek4;
aschut 9:aa5d6636197b 56
aschut 9:aa5d6636197b 57 float PolsReference;
aschut 9:aa5d6636197b 58 float Polshoek1;
aschut 9:aa5d6636197b 59 float Polshoek2;
aschut 9:aa5d6636197b 60 float Polshoek3;
aschut 9:aa5d6636197b 61 float Polshoek4;
aschut 9:aa5d6636197b 62
aschut 9:aa5d6636197b 63 float Hoeknieuw1;
aschut 9:aa5d6636197b 64 float Hoeknieuw2;
aschut 5:4b25551aeb6e 65
aschut 5:4b25551aeb6e 66 //Limiet in graden
aschut 9:aa5d6636197b 67 float lowerlim1 = 0;
aschut 9:aa5d6636197b 68 float upperlim1 = 748.8;
aschut 9:aa5d6636197b 69 float lowerlim2 = 0;
aschut 9:aa5d6636197b 70 float upperlim2 = 748.8; //40% van 1 ronde van het grote tandwiel is 2,08 rondes van de motor
aschut 2:926d56babb1a 71
aschut 6:14a9c4f30c86 72 // VARIABLES PID CONTROLLER
aschut 11:2375b538b631 73 double Kp1 = 5;
aschut 9:aa5d6636197b 74 double Ki1 = 0;
aschut 9:aa5d6636197b 75 double Kd1 = 1;
aschut 9:aa5d6636197b 76 double Kp2 = 6; // Zonder arm: 6,0,1
aschut 9:aa5d6636197b 77 double Ki2 = 0;
aschut 9:aa5d6636197b 78 double Kd2 = 1;
aschut 11:2375b538b631 79 double Ts = 0.0005; // Sample time in seconds
aschut 6:14a9c4f30c86 80
aschut 9:aa5d6636197b 81 float Kinematics1(float KPot)
aschut 6:14a9c4f30c86 82 {
aschut 6:14a9c4f30c86 83
aschut 6:14a9c4f30c86 84 if (KPot > 0.45f) {
aschut 9:aa5d6636197b 85 stap1 = KPot*150*Ts;
aschut 9:aa5d6636197b 86 Hoeknieuw1 = PolsReference + stap1;
aschut 9:aa5d6636197b 87 return Hoeknieuw1;
aschut 5:4b25551aeb6e 88 }
aschut 4:99f7fdce608e 89
aschut 6:14a9c4f30c86 90 else if (KPot < -0.45f) {
aschut 9:aa5d6636197b 91 stap1 = KPot*150*Ts;
aschut 9:aa5d6636197b 92 Hoeknieuw1 = PolsReference + stap1;
aschut 9:aa5d6636197b 93 return Hoeknieuw1;
aschut 9:aa5d6636197b 94 }
aschut 9:aa5d6636197b 95
aschut 9:aa5d6636197b 96 else {
aschut 9:aa5d6636197b 97 return PolsReference;
aschut 9:aa5d6636197b 98 }
aschut 9:aa5d6636197b 99 }
aschut 9:aa5d6636197b 100 float Kinematics2(float KPot)
aschut 9:aa5d6636197b 101 {
aschut 9:aa5d6636197b 102
aschut 9:aa5d6636197b 103 if (KPot > 0.45f) {
aschut 9:aa5d6636197b 104 stap2 = KPot*150*Ts; // 144 graden van de arm in 5 seconden
aschut 9:aa5d6636197b 105 Hoeknieuw2 = ElbowReference + stap2;
aschut 9:aa5d6636197b 106 return Hoeknieuw2;
aschut 9:aa5d6636197b 107 }
aschut 9:aa5d6636197b 108
aschut 9:aa5d6636197b 109 else if (KPot < -0.45f) {
aschut 9:aa5d6636197b 110 stap2 = KPot*150*Ts;
aschut 9:aa5d6636197b 111 Hoeknieuw2 = ElbowReference + stap2;
aschut 9:aa5d6636197b 112 return Hoeknieuw2;
aschut 6:14a9c4f30c86 113 }
aschut 6:14a9c4f30c86 114
aschut 6:14a9c4f30c86 115 else {
aschut 6:14a9c4f30c86 116 return ElbowReference;
aschut 6:14a9c4f30c86 117 }
aschut 6:14a9c4f30c86 118 }
aschut 6:14a9c4f30c86 119
aschut 9:aa5d6636197b 120 float Limits1(float Polshoek2)
aschut 6:14a9c4f30c86 121 {
aschut 6:14a9c4f30c86 122
aschut 9:aa5d6636197b 123 if (Polshoek2 <= upperlim1 && Polshoek2 >= lowerlim1) { //Binnen de limieten
aschut 9:aa5d6636197b 124 Polshoek3 = Polshoek2;
aschut 9:aa5d6636197b 125 }
aschut 9:aa5d6636197b 126
aschut 9:aa5d6636197b 127 else {
aschut 9:aa5d6636197b 128 if (Polshoek2 >= upperlim1) { //Boven de limiet
aschut 9:aa5d6636197b 129 Polshoek3 = upperlim1;
aschut 9:aa5d6636197b 130 } else { //Onder de limiet
aschut 9:aa5d6636197b 131 Polshoek3 = lowerlim1;
aschut 9:aa5d6636197b 132 }
aschut 9:aa5d6636197b 133 }
aschut 9:aa5d6636197b 134
aschut 9:aa5d6636197b 135 return Polshoek3;
aschut 9:aa5d6636197b 136 }
aschut 9:aa5d6636197b 137
aschut 9:aa5d6636197b 138
aschut 9:aa5d6636197b 139 float Limits2(float Ellebooghoek2)
aschut 9:aa5d6636197b 140 {
aschut 9:aa5d6636197b 141
aschut 9:aa5d6636197b 142 if (Ellebooghoek2 <= upperlim2 && Ellebooghoek2 >= lowerlim2) { //Binnen de limieten
aschut 5:4b25551aeb6e 143 Ellebooghoek3 = Ellebooghoek2;
aschut 6:14a9c4f30c86 144 }
aschut 6:14a9c4f30c86 145
aschut 5:4b25551aeb6e 146 else {
aschut 9:aa5d6636197b 147 if (Ellebooghoek2 >= upperlim2) { //Boven de limiet
aschut 9:aa5d6636197b 148 Ellebooghoek3 = upperlim2;
aschut 6:14a9c4f30c86 149 } else { //Onder de limiet
aschut 9:aa5d6636197b 150 Ellebooghoek3 = lowerlim2;
aschut 5:4b25551aeb6e 151 }
aschut 5:4b25551aeb6e 152 }
aschut 6:14a9c4f30c86 153
aschut 5:4b25551aeb6e 154 return Ellebooghoek3;
aschut 6:14a9c4f30c86 155 }
aschut 6:14a9c4f30c86 156
aschut 6:14a9c4f30c86 157
aschut 4:99f7fdce608e 158
aschut 0:a9a42914138c 159
aschut 6:14a9c4f30c86 160 // ~~~~~~~~~~~~~~PID CONTROLLER~~~~~~~~~~~~~~~~~~
aschut 9:aa5d6636197b 161 double PID_controller1(double error1)
aschut 6:14a9c4f30c86 162 {
aschut 9:aa5d6636197b 163 static double error1_integral = 0;
aschut 9:aa5d6636197b 164 static double error1_prev = error1; // initialization with this value only done once!
aschut 6:14a9c4f30c86 165 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); //(BIQUAD_FILTER_TYPE type, T dbGain, T freq, T srate, T bandwidth);
aschut 7:9a1007e35bac 166
aschut 7:9a1007e35bac 167 /* PID testing
aschut 9:aa5d6636197b 168 Kp1 = 10 * Pot2;
aschut 9:aa5d6636197b 169 Ki1 = 10 * Pot1;
aschut 7:9a1007e35bac 170
aschut 7:9a1007e35bac 171 if (!But2) {
aschut 9:aa5d6636197b 172 Kd1 = Kd1 + 0.01;
aschut 7:9a1007e35bac 173 }
aschut 7:9a1007e35bac 174 if (!But1){
aschut 9:aa5d6636197b 175 Kd1 = Kd1 - 0.01;
aschut 7:9a1007e35bac 176 }
aschut 7:9a1007e35bac 177 */
aschut 7:9a1007e35bac 178
aschut 6:14a9c4f30c86 179 // Proportional part:
aschut 9:aa5d6636197b 180 double u_k1 = Kp1 * error1;
aschut 6:14a9c4f30c86 181
aschut 6:14a9c4f30c86 182 // Integral part
aschut 9:aa5d6636197b 183 error1_integral = error1_integral + error1 * Ts;
aschut 9:aa5d6636197b 184 double u_i1 = Ki1* error1_integral;
aschut 6:14a9c4f30c86 185
aschut 6:14a9c4f30c86 186 // Derivative part
aschut 9:aa5d6636197b 187 double error1_derivative = (error1 - error1_prev)/Ts;
aschut 9:aa5d6636197b 188 double filtered_error1_derivative = LowPassFilter.step(error1_derivative);
aschut 9:aa5d6636197b 189 double u_d1 = Kd1 * filtered_error1_derivative;
aschut 9:aa5d6636197b 190 error1_prev = error1;
aschut 6:14a9c4f30c86 191
aschut 6:14a9c4f30c86 192 // Sum all parts and return it
aschut 9:aa5d6636197b 193 return u_k1 + u_i1 + u_d1;
aschut 9:aa5d6636197b 194 }
aschut 9:aa5d6636197b 195 double PID_controller2(double error2)
aschut 9:aa5d6636197b 196 {
aschut 9:aa5d6636197b 197 static double error2_integral = 0;
aschut 9:aa5d6636197b 198 static double error2_prev = error2; // initialization with this value only done once!
aschut 9:aa5d6636197b 199 static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241); //(BIQUAD_FILTER_TYPE type, T dbGain, T freq, T srate, T bandwidth);
aschut 9:aa5d6636197b 200
aschut 9:aa5d6636197b 201 /* PID testing
aschut 9:aa5d6636197b 202 Kp2 = 10 * Pot2;
aschut 9:aa5d6636197b 203 Ki2 = 10 * Pot1;
aschut 9:aa5d6636197b 204
aschut 9:aa5d6636197b 205 if (!But2) {
aschut 9:aa5d6636197b 206 Kd2 = Kd2 + 0.01;
aschut 9:aa5d6636197b 207 }
aschut 9:aa5d6636197b 208 if (!But1){
aschut 9:aa5d6636197b 209 Kd2 = Kd2 - 0.01;
aschut 9:aa5d6636197b 210 }
aschut 9:aa5d6636197b 211 */
aschut 9:aa5d6636197b 212
aschut 9:aa5d6636197b 213 // Proportional part:
aschut 9:aa5d6636197b 214 double u_k2 = Kp2 * error2;
aschut 9:aa5d6636197b 215
aschut 9:aa5d6636197b 216 // Integral part
aschut 9:aa5d6636197b 217 error2_integral = error2_integral + error2 * Ts;
aschut 9:aa5d6636197b 218 double u_i2 = Ki2 * error2_integral;
aschut 9:aa5d6636197b 219
aschut 9:aa5d6636197b 220 // Derivative part
aschut 9:aa5d6636197b 221 double error2_derivative = (error2 - error2_prev)/Ts;
aschut 9:aa5d6636197b 222 double filtered_error2_derivative = LowPassFilter.step(error2_derivative);
aschut 9:aa5d6636197b 223 double u_d2 = Kd2 * filtered_error2_derivative;
aschut 9:aa5d6636197b 224 error2_prev = error2;
aschut 9:aa5d6636197b 225
aschut 9:aa5d6636197b 226 // Sum all parts and return it
aschut 9:aa5d6636197b 227 return u_k2 + u_i2 + u_d2;
aschut 6:14a9c4f30c86 228 }
aschut 6:14a9c4f30c86 229
aschut 9:aa5d6636197b 230 void moter1_control(double u1)
aschut 6:14a9c4f30c86 231 {
aschut 9:aa5d6636197b 232 direction1= u1 > 0.0f; //positief = CW
aschut 11:2375b538b631 233 if (fabs(u1)> 0.5f) {
aschut 11:2375b538b631 234 u1 = 0.5f;
aschut 6:14a9c4f30c86 235 } else {
aschut 9:aa5d6636197b 236 u1= u1;
aschut 0:a9a42914138c 237 }
aschut 9:aa5d6636197b 238 pwmpin1= fabs(u1); //pwmduty cycle canonlybepositive, floatingpoint absolute value
aschut 9:aa5d6636197b 239 }
aschut 9:aa5d6636197b 240
aschut 9:aa5d6636197b 241 void moter2_control(double u2)
aschut 9:aa5d6636197b 242 {
aschut 9:aa5d6636197b 243 direction2= u2 < 0.0f; //positief = CW
aschut 9:aa5d6636197b 244 if (fabs(u2)> 0.7f) {
aschut 9:aa5d6636197b 245 u2 = 0.7f;
aschut 9:aa5d6636197b 246 } else {
aschut 9:aa5d6636197b 247 u2= u2;
aschut 9:aa5d6636197b 248 }
aschut 9:aa5d6636197b 249 pwmpin2= fabs(u2); //pwmduty cycle canonlybepositive, floatingpoint absolute value
aschut 6:14a9c4f30c86 250 }
aschut 6:14a9c4f30c86 251
aschut 4:99f7fdce608e 252 void PwmMotor(void)
aschut 6:14a9c4f30c86 253 {
aschut 7:9a1007e35bac 254 // Reference hoek berekenen, in graden
aschut 9:aa5d6636197b 255 float Ellebooghoek1 = Kinematics2(pwm2);
aschut 9:aa5d6636197b 256 float Ellebooghoek4 = Limits2(Ellebooghoek1);
aschut 5:4b25551aeb6e 257 ElbowReference = Ellebooghoek4;
aschut 9:aa5d6636197b 258
aschut 9:aa5d6636197b 259 float Polshoek1 = Kinematics1(pwm2);
aschut 9:aa5d6636197b 260 float Polshoek4 = Limits1(Polshoek1);
aschut 9:aa5d6636197b 261 PolsReference = Polshoek4;
aschut 6:14a9c4f30c86 262
aschut 7:9a1007e35bac 263 // Positie motor berekenen, in graden
aschut 9:aa5d6636197b 264 Pulses1 = encoder1.getPulses();
aschut 9:aa5d6636197b 265 motor_position1 = -(Pulses1/1200)*360;
aschut 6:14a9c4f30c86 266 Pulses2 = encoder2.getPulses();
aschut 9:aa5d6636197b 267 motor_position2 = -(Pulses2/4800)*360;
aschut 2:926d56babb1a 268
aschut 9:aa5d6636197b 269 double error1 = PolsReference - motor_position1;
aschut 9:aa5d6636197b 270 double u1 = PID_controller1(error1);
aschut 9:aa5d6636197b 271 moter1_control(u1);
aschut 9:aa5d6636197b 272
aschut 9:aa5d6636197b 273 double error2 = ElbowReference - motor_position2;
aschut 9:aa5d6636197b 274 double u2 = PID_controller2(error2);
aschut 9:aa5d6636197b 275 moter2_control(u2);
aschut 6:14a9c4f30c86 276
aschut 6:14a9c4f30c86 277 }
aschut 6:14a9c4f30c86 278
aschut 1:58f34947c674 279 void MotorOn(void)
aschut 6:14a9c4f30c86 280 {
aschut 9:aa5d6636197b 281 pwmpin1 = 0;
aschut 4:99f7fdce608e 282 pwmpin2 = 0;
aschut 6:14a9c4f30c86 283 Pwm.attach (PwmMotor, Ts);
aschut 6:14a9c4f30c86 284
aschut 6:14a9c4f30c86 285 }
aschut 1:58f34947c674 286 void MotorOff(void)
aschut 6:14a9c4f30c86 287 {
aschut 6:14a9c4f30c86 288 Pwm.detach ();
aschut 1:58f34947c674 289 pwmpin2 = 0;
aschut 9:aa5d6636197b 290 pwmpin1 = 0;
aschut 6:14a9c4f30c86 291 }
aschut 4:99f7fdce608e 292
aschut 6:14a9c4f30c86 293 void ContinuousReader(void)
aschut 6:14a9c4f30c86 294 {
aschut 3:ac13255164cd 295 Pot2 = pot.read();
aschut 6:14a9c4f30c86 296 Pot1 = pot0.read();
aschut 7:9a1007e35bac 297 pwm2 =(Pot2*2)-1; //scaling naar -1 tot 1
aschut 9:aa5d6636197b 298 pwm1 =(Pot1*2)-1;
aschut 6:14a9c4f30c86 299 }
aschut 6:14a9c4f30c86 300
aschut 7:9a1007e35bac 301 /*
aschut 7:9a1007e35bac 302 void Kdcount (void) // Voor het testen van de PID waardes
aschut 7:9a1007e35bac 303 {
aschut 7:9a1007e35bac 304 int count = 0;
aschut 9:aa5d6636197b 305 PolsReference = PolsReference + 10;
aschut 7:9a1007e35bac 306 if (count == 7) {
aschut 9:aa5d6636197b 307 PolsReference = 0;
aschut 7:9a1007e35bac 308 count = 0;
aschut 7:9a1007e35bac 309 }
aschut 7:9a1007e35bac 310 count ++;
aschut 7:9a1007e35bac 311 }
aschut 7:9a1007e35bac 312 */
aschut 1:58f34947c674 313
aschut 6:14a9c4f30c86 314 int main()
aschut 6:14a9c4f30c86 315 {
aschut 6:14a9c4f30c86 316 Timer t;
aschut 6:14a9c4f30c86 317 t.start();
aschut 6:14a9c4f30c86 318 int counter = 0;
aschut 6:14a9c4f30c86 319 pwmpin2.period_us(60);
aschut 6:14a9c4f30c86 320 PotRead.attach(ContinuousReader,Ts);
aschut 7:9a1007e35bac 321 //Kdc.attach(Kdcount,5); //Voor PID waarde testen
aschut 2:926d56babb1a 322 pc.baud(115200);
aschut 6:14a9c4f30c86 323 //pc.printf("start\r\n");
aschut 4:99f7fdce608e 324 led = 1;
aschut 4:99f7fdce608e 325 led2 =1;
aschut 4:99f7fdce608e 326 led3 =1;
aschut 6:14a9c4f30c86 327
aschut 6:14a9c4f30c86 328 while (true) {
aschut 6:14a9c4f30c86 329 led3 = 0;
aschut 6:14a9c4f30c86 330 if (!button2) {
aschut 6:14a9c4f30c86 331 led3 = 1;
aschut 6:14a9c4f30c86 332 led = 0;
aschut 6:14a9c4f30c86 333 //pc.printf("MotorOn\r\n");
aschut 6:14a9c4f30c86 334 MotorOn();
aschut 6:14a9c4f30c86 335 }
aschut 6:14a9c4f30c86 336 if (!button3) {
aschut 6:14a9c4f30c86 337 //pc.printf("MotorOff\r\n");
aschut 6:14a9c4f30c86 338 PotRead.detach();
aschut 6:14a9c4f30c86 339 MotorOff();
aschut 6:14a9c4f30c86 340 }
aschut 4:99f7fdce608e 341 led = 0;
aschut 6:14a9c4f30c86 342 if(counter==10) {
aschut 6:14a9c4f30c86 343 float tmp = t.read();
aschut 9:aa5d6636197b 344 printf("%f,%f,%f,%f,%f,%f,%f\n\r",tmp,motor_position1,PolsReference,error1,Kp1,Ki1,Kd1);
aschut 6:14a9c4f30c86 345 counter = 0;
aschut 6:14a9c4f30c86 346 }
aschut 6:14a9c4f30c86 347 counter++;
aschut 6:14a9c4f30c86 348 wait(0.001);
aschut 1:58f34947c674 349 }
aschut 6:14a9c4f30c86 350 }
aschut 0:a9a42914138c 351
aschut 0:a9a42914138c 352
aschut 6:14a9c4f30c86 353