demo san / Mbed 2 deprecated LUCHO

PID DISCRETO

Dependencies:   mbed QEI TextLCD DebouncedIn

main.cpp@0:694446246c35, 2015-09-28 (annotated)

Committer:
demo71
Date:
Mon Sep 28 22:43:43 2015 +0000
Revision:
0:694446246c35
Child:
1:f0fa90a6fb6e
Control PID para un circuito RC con parametros ingresados mediante pulsadores y visualizado en una pantalla LCD 16x2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
demo71 0:694446246c35 1 // Hello World! for the TextLCD
demo71 0:694446246c35 2
demo71 0:694446246c35 3 #include "mbed.h"
demo71 0:694446246c35 4 #include "stdio.h"
demo71 0:694446246c35 5 #include "TextLCD.h"
demo71 0:694446246c35 6 #include "DebouncedIn.h"
demo71 0:694446246c35 7
demo71 0:694446246c35 8 //Declaracion de entradas y salidas
demo71 0:694446246c35 9 DebouncedIn Boton1(PTE20); //Selector
demo71 0:694446246c35 10 DebouncedIn Boton2(PTE21); //Aumento
demo71 0:694446246c35 11 DebouncedIn Boton3(PTE22); //Disminuye
demo71 0:694446246c35 12 DebouncedIn Boton4(PTE23); //Confirma
demo71 0:694446246c35 13
demo71 0:694446246c35 14 PwmOut control(PTE29);
demo71 0:694446246c35 15 AnalogIn vcond(PTB0);
demo71 0:694446246c35 16
demo71 0:694446246c35 17 TextLCD lcd(PTB8,PTB9,PTB10,PTB11,PTE2,PTE3); // rs, e, d4-d7
demo71 0:694446246c35 18
demo71 0:694446246c35 19 //codigos movimiento del cursor LCD
demo71 0:694446246c35 20 int C2=0x18; // desplaza izquierda
demo71 0:694446246c35 21 int C3=0x1A; // desplaza derecha
demo71 0:694446246c35 22 int C4=0x0C; // quito cursor bajo
demo71 0:694446246c35 23 int C1=0x0F; // solo muestra el cursor
demo71 0:694446246c35 24
demo71 0:694446246c35 25 int Kp=0,Ki=0,Kd=0,Sp=0,p,i;
demo71 0:694446246c35 26 float rT,eT,iT,dT,yT,uT,iT0=0,eT0=0,iT_1=0,eT_1=0;
demo71 0:694446246c35 27 Timer tu;
demo71 0:694446246c35 28 Timer td;
demo71 0:694446246c35 29
demo71 0:694446246c35 30 int main() {
demo71 0:694446246c35 31
demo71 0:694446246c35 32 lcd.cls();
demo71 0:694446246c35 33 //escribimos un comando segun el manual del modulo LCD
demo71 0:694446246c35 34 lcd.locate(1,0);
demo71 0:694446246c35 35 lcd.printf("Kp=%d",Kp);
demo71 0:694446246c35 36 lcd.locate(9,0);
demo71 0:694446246c35 37 lcd.printf("Ki%d=",Ki);
demo71 0:694446246c35 38 lcd.locate(1,1);
demo71 0:694446246c35 39 lcd.printf("Kd=%d",Kd);
demo71 0:694446246c35 40 lcd.locate(9,1);
demo71 0:694446246c35 41 lcd.printf("Sp=%d",Sp);
demo71 0:694446246c35 42
demo71 0:694446246c35 43
demo71 0:694446246c35 44 set_Kp:
demo71 0:694446246c35 45 lcd.cls();
demo71 0:694446246c35 46 lcd.locate(0,0);
demo71 0:694446246c35 47 lcd.printf(">Kp= ");
demo71 0:694446246c35 48
demo71 0:694446246c35 49 lcd.locate(9,0);
demo71 0:694446246c35 50 lcd.printf("Ki=%d",Ki);
demo71 0:694446246c35 51 lcd.locate(1,1);
demo71 0:694446246c35 52 lcd.printf("Kd=%d",Kd);
demo71 0:694446246c35 53 lcd.locate(9,1);
demo71 0:694446246c35 54 lcd.printf("Sp=%d",Sp);
demo71 0:694446246c35 55
demo71 0:694446246c35 56
demo71 0:694446246c35 57 //Kp=0;
demo71 0:694446246c35 58 while(1){
demo71 0:694446246c35 59
demo71 0:694446246c35 60 if(Boton2.falling()){
demo71 0:694446246c35 61 Kp++;
demo71 0:694446246c35 62 tu.start();
demo71 0:694446246c35 63 }
demo71 0:694446246c35 64 //AUMENTO*10 **************
demo71 0:694446246c35 65 if(Boton2.rising()){
demo71 0:694446246c35 66 tu.stop();
demo71 0:694446246c35 67 tu.reset();
demo71 0:694446246c35 68 }
demo71 0:694446246c35 69 if(tu.read()>=2.0 && tu.read()<4.0){
demo71 0:694446246c35 70 Kp=Kp+10;
demo71 0:694446246c35 71 wait(0.3);
demo71 0:694446246c35 72 }
demo71 0:694446246c35 73 else if(tu.read()>=4.0){
demo71 0:694446246c35 74 Kp=Kp+100;
demo71 0:694446246c35 75 wait(0.3);
demo71 0:694446246c35 76 }
demo71 0:694446246c35 77 //*************************
demo71 0:694446246c35 78 if(Boton3.falling()){
demo71 0:694446246c35 79 Kp--;
demo71 0:694446246c35 80 td.start();
demo71 0:694446246c35 81 }
demo71 0:694446246c35 82 //DISMINUYE*10 **************
demo71 0:694446246c35 83 if(Boton3.rising()){
demo71 0:694446246c35 84 td.stop();
demo71 0:694446246c35 85 td.reset();
demo71 0:694446246c35 86 }
demo71 0:694446246c35 87 if(td.read()>=2.0 && td.read()<4.0){
demo71 0:694446246c35 88 Kp=Kp-10;
demo71 0:694446246c35 89 wait(0.3);
demo71 0:694446246c35 90 }
demo71 0:694446246c35 91 else if(td.read()>=4.0){
demo71 0:694446246c35 92 Kp=Kp-100;
demo71 0:694446246c35 93 wait(0.3);
demo71 0:694446246c35 94 }
demo71 0:694446246c35 95 //*************************
demo71 0:694446246c35 96
demo71 0:694446246c35 97 if(Kp>=999){
demo71 0:694446246c35 98 Kp=999;
demo71 0:694446246c35 99 }
demo71 0:694446246c35 100 else if (Kp<=0){
demo71 0:694446246c35 101 Kp=0;
demo71 0:694446246c35 102 }
demo71 0:694446246c35 103
demo71 0:694446246c35 104 lcd.locate(0,0);
demo71 0:694446246c35 105 lcd.printf(">Kp=%d ",Kp);
demo71 0:694446246c35 106
demo71 0:694446246c35 107 if(Boton1.falling()){
demo71 0:694446246c35 108 goto set_Ki;
demo71 0:694446246c35 109 }
demo71 0:694446246c35 110
demo71 0:694446246c35 111 if(Boton4.falling()){
demo71 0:694446246c35 112 goto PID;
demo71 0:694446246c35 113 }
demo71 0:694446246c35 114
demo71 0:694446246c35 115 }
demo71 0:694446246c35 116
demo71 0:694446246c35 117 set_Ki:
demo71 0:694446246c35 118
demo71 0:694446246c35 119 lcd.cls();
demo71 0:694446246c35 120 lcd.locate(8,0);
demo71 0:694446246c35 121 lcd.printf(">Ki= ");
demo71 0:694446246c35 122
demo71 0:694446246c35 123 lcd.locate(1,0);
demo71 0:694446246c35 124 lcd.printf("Kp=%d",Kp);
demo71 0:694446246c35 125 lcd.locate(1,1);
demo71 0:694446246c35 126 lcd.printf("Kd=%d",Kd);
demo71 0:694446246c35 127 lcd.locate(9,1);
demo71 0:694446246c35 128 lcd.printf("Sp=%d",Sp);
demo71 0:694446246c35 129
demo71 0:694446246c35 130 //Ki=0;
demo71 0:694446246c35 131 while(1){
demo71 0:694446246c35 132
demo71 0:694446246c35 133 if(Boton2.falling()){
demo71 0:694446246c35 134 Ki++;
demo71 0:694446246c35 135 tu.start();
demo71 0:694446246c35 136 }
demo71 0:694446246c35 137 //AUMENTO*10 **************
demo71 0:694446246c35 138 if(Boton2.rising()){
demo71 0:694446246c35 139 tu.stop();
demo71 0:694446246c35 140 tu.reset();
demo71 0:694446246c35 141 }
demo71 0:694446246c35 142 if(tu.read()>=2.0 && tu.read()<4.0){
demo71 0:694446246c35 143 Ki=Ki+10;
demo71 0:694446246c35 144 wait(0.3);
demo71 0:694446246c35 145 }
demo71 0:694446246c35 146 else if(tu.read()>=4.0){
demo71 0:694446246c35 147 Ki=Ki+100;
demo71 0:694446246c35 148 wait(0.3);
demo71 0:694446246c35 149 }
demo71 0:694446246c35 150 //*************************
demo71 0:694446246c35 151 if(Boton3.falling()){
demo71 0:694446246c35 152 Ki--;
demo71 0:694446246c35 153 td.start();
demo71 0:694446246c35 154 }
demo71 0:694446246c35 155 //DISMINUYE*10 **************
demo71 0:694446246c35 156 if(Boton3.rising()){
demo71 0:694446246c35 157 td.stop();
demo71 0:694446246c35 158 td.reset();
demo71 0:694446246c35 159 }
demo71 0:694446246c35 160 if(td.read()>=2.0 && td.read()<4.0){
demo71 0:694446246c35 161 Ki=Ki-10;
demo71 0:694446246c35 162 wait(0.3);
demo71 0:694446246c35 163 }
demo71 0:694446246c35 164 else if(td.read()>=4.0){
demo71 0:694446246c35 165 Ki=Ki-100;
demo71 0:694446246c35 166 wait(0.3);
demo71 0:694446246c35 167 }
demo71 0:694446246c35 168 //*************************
demo71 0:694446246c35 169
demo71 0:694446246c35 170 if(Ki>=999){
demo71 0:694446246c35 171 Ki=999;
demo71 0:694446246c35 172 }
demo71 0:694446246c35 173 else if (Ki<=0){
demo71 0:694446246c35 174 Ki=0;
demo71 0:694446246c35 175 }
demo71 0:694446246c35 176
demo71 0:694446246c35 177 lcd.locate(8,0);
demo71 0:694446246c35 178 lcd.printf(">Ki=%d ",Ki);
demo71 0:694446246c35 179
demo71 0:694446246c35 180 if(Boton1.falling()){
demo71 0:694446246c35 181 goto set_Kd;
demo71 0:694446246c35 182 }
demo71 0:694446246c35 183
demo71 0:694446246c35 184 if(Boton4.falling()){
demo71 0:694446246c35 185 goto PID;
demo71 0:694446246c35 186 }
demo71 0:694446246c35 187
demo71 0:694446246c35 188 }
demo71 0:694446246c35 189
demo71 0:694446246c35 190 set_Kd:
demo71 0:694446246c35 191
demo71 0:694446246c35 192 lcd.cls();
demo71 0:694446246c35 193 lcd.locate(0,1);
demo71 0:694446246c35 194 lcd.printf(">Kd= ");
demo71 0:694446246c35 195
demo71 0:694446246c35 196 lcd.locate(1,0);
demo71 0:694446246c35 197 lcd.printf("Kp=%d",Kp);
demo71 0:694446246c35 198 lcd.locate(9,0);
demo71 0:694446246c35 199 lcd.printf("Ki=%d",Ki);
demo71 0:694446246c35 200 lcd.locate(9,1);
demo71 0:694446246c35 201 lcd.printf("Sp=%d",Sp);
demo71 0:694446246c35 202
demo71 0:694446246c35 203
demo71 0:694446246c35 204 //Kd=0;
demo71 0:694446246c35 205 while(1){
demo71 0:694446246c35 206
demo71 0:694446246c35 207 if(Boton2.falling()){
demo71 0:694446246c35 208 Kd++;
demo71 0:694446246c35 209 tu.start();
demo71 0:694446246c35 210 }
demo71 0:694446246c35 211 //AUMENTO*10 **************
demo71 0:694446246c35 212 if(Boton2.rising()){
demo71 0:694446246c35 213 tu.stop();
demo71 0:694446246c35 214 tu.reset();
demo71 0:694446246c35 215 }
demo71 0:694446246c35 216 if(tu.read()>=2.0 && tu.read()<4.0){
demo71 0:694446246c35 217 Kd=Kd+10;
demo71 0:694446246c35 218 wait(0.3);
demo71 0:694446246c35 219 }
demo71 0:694446246c35 220 else if(tu.read()>=4.0){
demo71 0:694446246c35 221 Kd=Kd+100;
demo71 0:694446246c35 222 wait(0.3);
demo71 0:694446246c35 223 }
demo71 0:694446246c35 224 //*************************
demo71 0:694446246c35 225 if(Boton3.falling()){
demo71 0:694446246c35 226 Kd--;
demo71 0:694446246c35 227 td.start();
demo71 0:694446246c35 228 }
demo71 0:694446246c35 229 //DISMINUYE*10 **************
demo71 0:694446246c35 230 if(Boton3.rising()){
demo71 0:694446246c35 231 td.stop();
demo71 0:694446246c35 232 td.reset();
demo71 0:694446246c35 233 }
demo71 0:694446246c35 234 if(td.read()>=2.0 && td.read()<4.0){
demo71 0:694446246c35 235 Kd=Kd-10;
demo71 0:694446246c35 236 wait(0.3);
demo71 0:694446246c35 237 }
demo71 0:694446246c35 238 else if(td.read()>=4.0){
demo71 0:694446246c35 239 Kd=Kd-100;
demo71 0:694446246c35 240 wait(0.3);
demo71 0:694446246c35 241 }
demo71 0:694446246c35 242 //*************************
demo71 0:694446246c35 243
demo71 0:694446246c35 244 if(Kd>=999){
demo71 0:694446246c35 245 Kd=999;
demo71 0:694446246c35 246 }
demo71 0:694446246c35 247 else if (Kd<=0){
demo71 0:694446246c35 248 Kd=0;
demo71 0:694446246c35 249 }
demo71 0:694446246c35 250
demo71 0:694446246c35 251 lcd.locate(0,1);
demo71 0:694446246c35 252 lcd.printf(">Kd=%d ",Kd);
demo71 0:694446246c35 253
demo71 0:694446246c35 254 if(Boton1.falling()){
demo71 0:694446246c35 255 goto set_Sp;
demo71 0:694446246c35 256 }
demo71 0:694446246c35 257
demo71 0:694446246c35 258 if(Boton4.falling()){
demo71 0:694446246c35 259 goto PID;
demo71 0:694446246c35 260 }
demo71 0:694446246c35 261
demo71 0:694446246c35 262 }
demo71 0:694446246c35 263
demo71 0:694446246c35 264 set_Sp:
demo71 0:694446246c35 265
demo71 0:694446246c35 266 lcd.cls();
demo71 0:694446246c35 267 lcd.locate(8,1);
demo71 0:694446246c35 268 lcd.printf(">Sp= ");
demo71 0:694446246c35 269
demo71 0:694446246c35 270 lcd.locate(1,0);
demo71 0:694446246c35 271 lcd.printf("Kp=%d",Kp);
demo71 0:694446246c35 272 lcd.locate(9,0);
demo71 0:694446246c35 273 lcd.printf("Ki=%d",Ki);
demo71 0:694446246c35 274 lcd.locate(1,1);
demo71 0:694446246c35 275 lcd.printf("Kd=%d",Kd);
demo71 0:694446246c35 276
demo71 0:694446246c35 277 //Sp=0;
demo71 0:694446246c35 278 while(1){
demo71 0:694446246c35 279
demo71 0:694446246c35 280 if(Boton2.falling()){
demo71 0:694446246c35 281 Sp++;
demo71 0:694446246c35 282 tu.start();
demo71 0:694446246c35 283 }
demo71 0:694446246c35 284 //AUMENTO*10 **************
demo71 0:694446246c35 285 if(Boton2.rising()){
demo71 0:694446246c35 286 tu.stop();
demo71 0:694446246c35 287 tu.reset();
demo71 0:694446246c35 288 }
demo71 0:694446246c35 289 if(tu.read()>=2.0 && tu.read()<4.0){
demo71 0:694446246c35 290 Sp=Sp+10;
demo71 0:694446246c35 291 wait(0.3);
demo71 0:694446246c35 292 }
demo71 0:694446246c35 293 else if(tu.read()>=4.0){
demo71 0:694446246c35 294 Sp=Sp+100;
demo71 0:694446246c35 295 wait(0.3);
demo71 0:694446246c35 296 }
demo71 0:694446246c35 297 //*************************
demo71 0:694446246c35 298 if(Boton3.falling()){
demo71 0:694446246c35 299 Sp--;
demo71 0:694446246c35 300 td.start();
demo71 0:694446246c35 301 }
demo71 0:694446246c35 302 //DISMINUYE*10 **************
demo71 0:694446246c35 303 if(Boton3.rising()){
demo71 0:694446246c35 304 td.stop();
demo71 0:694446246c35 305 td.reset();
demo71 0:694446246c35 306 }
demo71 0:694446246c35 307 if(td.read()>=2.0 && td.read()<4.0){
demo71 0:694446246c35 308 Sp=Sp-10;
demo71 0:694446246c35 309 wait(0.3);
demo71 0:694446246c35 310 }
demo71 0:694446246c35 311 else if(td.read()>=4.0){
demo71 0:694446246c35 312 Sp=Sp-100;
demo71 0:694446246c35 313 wait(0.3);
demo71 0:694446246c35 314 }
demo71 0:694446246c35 315 //*************************
demo71 0:694446246c35 316
demo71 0:694446246c35 317 if(Sp>=999){
demo71 0:694446246c35 318 Sp=999;
demo71 0:694446246c35 319 }
demo71 0:694446246c35 320 else if (Sp<=0){
demo71 0:694446246c35 321 Sp=0;
demo71 0:694446246c35 322 }
demo71 0:694446246c35 323
demo71 0:694446246c35 324 lcd.locate(8,1);
demo71 0:694446246c35 325 lcd.printf(">Sp=%d ",Sp);
demo71 0:694446246c35 326
demo71 0:694446246c35 327 if(Boton1.falling()){
demo71 0:694446246c35 328 goto set_Kp;
demo71 0:694446246c35 329 }
demo71 0:694446246c35 330
demo71 0:694446246c35 331 if(Boton4.falling()){
demo71 0:694446246c35 332 goto PID;
demo71 0:694446246c35 333 }
demo71 0:694446246c35 334
demo71 0:694446246c35 335 }
demo71 0:694446246c35 336
demo71 0:694446246c35 337 PID:
demo71 0:694446246c35 338 lcd.cls();
demo71 0:694446246c35 339
demo71 0:694446246c35 340 //Sp=2;
demo71 0:694446246c35 341 //Kp=(float)12.105;
demo71 0:694446246c35 342 //Ki=(float)5.32;
demo71 0:694446246c35 343 //Kd=(float)2;
demo71 0:694446246c35 344 while(1){
demo71 0:694446246c35 345
demo71 0:694446246c35 346 yT=vcond.read()*3.3;
demo71 0:694446246c35 347 eT=Sp-yT;
demo71 0:694446246c35 348 iT=Ki*eT+iT0; //Accion Integral
demo71 0:694446246c35 349 dT=Kd*(eT-eT0); //Accion Derivativa
demo71 0:694446246c35 350 uT=iT+Kp*eT+dT;
demo71 0:694446246c35 351 if (uT>3.3) { //Salida PID si es mayor que el MAX
demo71 0:694446246c35 352 uT=3.3;}
demo71 0:694446246c35 353 else if (uT<0){ //Salida PID si es menor que el MIN
demo71 0:694446246c35 354 uT=0;
demo71 0:694446246c35 355 }
demo71 0:694446246c35 356 iT0=iT; //Guardar variables
demo71 0:694446246c35 357 eT0=eT;
demo71 0:694446246c35 358 control=(float)uT/3.3;
demo71 0:694446246c35 359
demo71 0:694446246c35 360 lcd.locate(0,0);
demo71 0:694446246c35 361 lcd.printf("Error=%.2f ",eT);
demo71 0:694446246c35 362 lcd.locate(0,1);
demo71 0:694446246c35 363 lcd.printf("Y_act=%.2f",yT);
demo71 0:694446246c35 364 wait(0.2);
demo71 0:694446246c35 365 }
demo71 0:694446246c35 366 //lcd.locate(3,0);
demo71 0:694446246c35 367 //lcd.writeCommand(C1);
demo71 0:694446246c35 368
demo71 0:694446246c35 369
demo71 0:694446246c35 370
demo71 0:694446246c35 371 }
demo71 0:694446246c35 372
demo71 0:694446246c35 373