Code om de PID controller af te stellen aan de hand van een sinus golf
Dependencies: mbed QEI MODSERIAL FastPWM biquadFilter
main.cpp
- Committer:
- aschut
- Date:
- 2019-03-22
- Revision:
- 9:aa5d6636197b
- Parent:
- 7:9a1007e35bac
- Child:
- 10:548230cbdb8e
- Child:
- 11:2375b538b631
File content as of revision 9:aa5d6636197b:
#include "mbed.h" #include "MODSERIAL.h" #include "QEI.h" #include "BiQuad.h" // Algemeen DigitalIn button2(SW2); DigitalIn button3(SW3); AnalogIn But2(A5); AnalogIn But1(A3); DigitalOut led(LED_GREEN); DigitalOut led2(LED_RED); DigitalOut led3(LED_BLUE); MODSERIAL pc(USBTX, USBRX); //Motoren DigitalOut direction1(D4); PwmOut pwmpin1(D5); PwmOut pwmpin2(D6); DigitalOut direction2(D7); volatile float pwm1; volatile float pwm2; //Encoder QEI encoder1 (D10, D9, NC, 1200, QEI::X4_ENCODING); QEI encoder2 (D13, D12, NC, 4800, QEI::X4_ENCODING); double Pulses1; double motor_position1; double Pulses2; double motor_position2; double error1; //Pot meter AnalogIn pot(A1); AnalogIn pot0(A0); float Pot2; float Pot1; //Ticker Ticker Pwm; Ticker PotRead; Ticker Kdc; //Kinematica double stap1; double stap2; double KPot; float KPotabs; float ElbowReference; float Ellebooghoek1; float Ellebooghoek2; float Ellebooghoek3; float Ellebooghoek4; float PolsReference; float Polshoek1; float Polshoek2; float Polshoek3; float Polshoek4; float Hoeknieuw1; float Hoeknieuw2; //Limiet in graden float lowerlim1 = 0; float upperlim1 = 748.8; float lowerlim2 = 0; float upperlim2 = 748.8; //40% van 1 ronde van het grote tandwiel is 2,08 rondes van de motor // VARIABLES PID CONTROLLER double Kp1 = 6; double Ki1 = 0; double Kd1 = 1; double Kp2 = 6; // Zonder arm: 6,0,1 double Ki2 = 0; double Kd2 = 1; double Ts = 0.001; // Sample time in seconds float Kinematics1(float KPot) { if (KPot > 0.45f) { stap1 = KPot*150*Ts; Hoeknieuw1 = PolsReference + stap1; return Hoeknieuw1; } else if (KPot < -0.45f) { stap1 = KPot*150*Ts; Hoeknieuw1 = PolsReference + stap1; return Hoeknieuw1; } else { return PolsReference; } } float Kinematics2(float KPot) { if (KPot > 0.45f) { stap2 = KPot*150*Ts; // 144 graden van de arm in 5 seconden Hoeknieuw2 = ElbowReference + stap2; return Hoeknieuw2; } else if (KPot < -0.45f) { stap2 = KPot*150*Ts; Hoeknieuw2 = ElbowReference + stap2; return Hoeknieuw2; } else { return ElbowReference; } } float Limits1(float Polshoek2) { if (Polshoek2 <= upperlim1 && Polshoek2 >= lowerlim1) { //Binnen de limieten Polshoek3 = Polshoek2; } else { if (Polshoek2 >= upperlim1) { //Boven de limiet Polshoek3 = upperlim1; } else { //Onder de limiet Polshoek3 = lowerlim1; } } return Polshoek3; } float Limits2(float Ellebooghoek2) { if (Ellebooghoek2 <= upperlim2 && Ellebooghoek2 >= lowerlim2) { //Binnen de limieten Ellebooghoek3 = Ellebooghoek2; } else { if (Ellebooghoek2 >= upperlim2) { //Boven de limiet Ellebooghoek3 = upperlim2; } else { //Onder de limiet Ellebooghoek3 = lowerlim2; } } return Ellebooghoek3; } // ~~~~~~~~~~~~~~PID CONTROLLER~~~~~~~~~~~~~~~~~~ double PID_controller1(double error1) { static double error1_integral = 0; static double error1_prev = error1; // initialization with this value only done once! 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); /* PID testing Kp1 = 10 * Pot2; Ki1 = 10 * Pot1; if (!But2) { Kd1 = Kd1 + 0.01; } if (!But1){ Kd1 = Kd1 - 0.01; } */ // Proportional part: double u_k1 = Kp1 * error1; // Integral part error1_integral = error1_integral + error1 * Ts; double u_i1 = Ki1* error1_integral; // Derivative part double error1_derivative = (error1 - error1_prev)/Ts; double filtered_error1_derivative = LowPassFilter.step(error1_derivative); double u_d1 = Kd1 * filtered_error1_derivative; error1_prev = error1; // Sum all parts and return it return u_k1 + u_i1 + u_d1; } double PID_controller2(double error2) { static double error2_integral = 0; static double error2_prev = error2; // initialization with this value only done once! 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); /* PID testing Kp2 = 10 * Pot2; Ki2 = 10 * Pot1; if (!But2) { Kd2 = Kd2 + 0.01; } if (!But1){ Kd2 = Kd2 - 0.01; } */ // Proportional part: double u_k2 = Kp2 * error2; // Integral part error2_integral = error2_integral + error2 * Ts; double u_i2 = Ki2 * error2_integral; // Derivative part double error2_derivative = (error2 - error2_prev)/Ts; double filtered_error2_derivative = LowPassFilter.step(error2_derivative); double u_d2 = Kd2 * filtered_error2_derivative; error2_prev = error2; // Sum all parts and return it return u_k2 + u_i2 + u_d2; } void moter1_control(double u1) { direction1= u1 > 0.0f; //positief = CW if (fabs(u1)> 0.7f) { u1 = 0.7f; } else { u1= u1; } pwmpin1= fabs(u1); //pwmduty cycle canonlybepositive, floatingpoint absolute value } void moter2_control(double u2) { direction2= u2 < 0.0f; //positief = CW if (fabs(u2)> 0.7f) { u2 = 0.7f; } else { u2= u2; } pwmpin2= fabs(u2); //pwmduty cycle canonlybepositive, floatingpoint absolute value } void PwmMotor(void) { // Reference hoek berekenen, in graden float Ellebooghoek1 = Kinematics2(pwm2); float Ellebooghoek4 = Limits2(Ellebooghoek1); ElbowReference = Ellebooghoek4; float Polshoek1 = Kinematics1(pwm2); float Polshoek4 = Limits1(Polshoek1); PolsReference = Polshoek4; // Positie motor berekenen, in graden Pulses1 = encoder1.getPulses(); motor_position1 = -(Pulses1/1200)*360; Pulses2 = encoder2.getPulses(); motor_position2 = -(Pulses2/4800)*360; double error1 = PolsReference - motor_position1; double u1 = PID_controller1(error1); moter1_control(u1); double error2 = ElbowReference - motor_position2; double u2 = PID_controller2(error2); moter2_control(u2); } void MotorOn(void) { pwmpin1 = 0; pwmpin2 = 0; Pwm.attach (PwmMotor, Ts); } void MotorOff(void) { Pwm.detach (); pwmpin2 = 0; pwmpin1 = 0; } void ContinuousReader(void) { Pot2 = pot.read(); Pot1 = pot0.read(); pwm2 =(Pot2*2)-1; //scaling naar -1 tot 1 pwm1 =(Pot1*2)-1; } /* void Kdcount (void) // Voor het testen van de PID waardes { int count = 0; PolsReference = PolsReference + 10; if (count == 7) { PolsReference = 0; count = 0; } count ++; } */ int main() { Timer t; t.start(); int counter = 0; pwmpin2.period_us(60); PotRead.attach(ContinuousReader,Ts); //Kdc.attach(Kdcount,5); //Voor PID waarde testen pc.baud(115200); //pc.printf("start\r\n"); led = 1; led2 =1; led3 =1; while (true) { led3 = 0; if (!button2) { led3 = 1; led = 0; //pc.printf("MotorOn\r\n"); MotorOn(); } if (!button3) { //pc.printf("MotorOff\r\n"); PotRead.detach(); MotorOff(); } led = 0; if(counter==10) { float tmp = t.read(); printf("%f,%f,%f,%f,%f,%f,%f\n\r",tmp,motor_position1,PolsReference,error1,Kp1,Ki1,Kd1); counter = 0; } counter++; wait(0.001); } }