demo san / Mbed 2 deprecated TAREA_3_PID

Control PID de un circuito RC con parametros agregados mediante pulsadores y visualizado en LCD 16x2

Dependencies:   DebouncedIn TextLCD mbed

Fork of TAREA_3_PID by demo san

main.cpp@1:93e71ac5cf91, 2017-11-08 (annotated)

Committer:
demo71
Date:
Wed Nov 08 21:04:13 2017 +0000
Revision:
1:93e71ac5cf91
Parent:
0:694446246c35 
PID CONTINUO

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 1:93e71ac5cf91 25 //Variables y parametros del Controlador PID
demo71 0:694446246c35 26 int Kp=0,Ki=0,Kd=0,Sp=0,p,i;
demo71 0:694446246c35 27 float rT,eT,iT,dT,yT,uT,iT0=0,eT0=0,iT_1=0,eT_1=0;
demo71 0:694446246c35 28 Timer tu;
demo71 0:694446246c35 29 Timer td;
demo71 0:694446246c35 30
demo71 0:694446246c35 31 int main() {
demo71 0:694446246c35 32
demo71 0:694446246c35 33 lcd.cls();
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 1:93e71ac5cf91 43 //Configuracion del parametro Kp
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 1:93e71ac5cf91 57
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 1:93e71ac5cf91 117 //Configuracion del parametro Ki
demo71 0:694446246c35 118 set_Ki:
demo71 0:694446246c35 119
demo71 0:694446246c35 120 lcd.cls();
demo71 0:694446246c35 121 lcd.locate(8,0);
demo71 0:694446246c35 122 lcd.printf(">Ki= ");
demo71 0:694446246c35 123
demo71 0:694446246c35 124 lcd.locate(1,0);
demo71 0:694446246c35 125 lcd.printf("Kp=%d",Kp);
demo71 0:694446246c35 126 lcd.locate(1,1);
demo71 0:694446246c35 127 lcd.printf("Kd=%d",Kd);
demo71 0:694446246c35 128 lcd.locate(9,1);
demo71 0:694446246c35 129 lcd.printf("Sp=%d",Sp);
demo71 0:694446246c35 130
demo71 0:694446246c35 131 //Ki=0;
demo71 0:694446246c35 132 while(1){
demo71 0:694446246c35 133
demo71 0:694446246c35 134 if(Boton2.falling()){
demo71 0:694446246c35 135 Ki++;
demo71 0:694446246c35 136 tu.start();
demo71 0:694446246c35 137 }
demo71 0:694446246c35 138 //AUMENTO*10 **************
demo71 0:694446246c35 139 if(Boton2.rising()){
demo71 0:694446246c35 140 tu.stop();
demo71 0:694446246c35 141 tu.reset();
demo71 0:694446246c35 142 }
demo71 0:694446246c35 143 if(tu.read()>=2.0 && tu.read()<4.0){
demo71 0:694446246c35 144 Ki=Ki+10;
demo71 0:694446246c35 145 wait(0.3);
demo71 0:694446246c35 146 }
demo71 0:694446246c35 147 else if(tu.read()>=4.0){
demo71 0:694446246c35 148 Ki=Ki+100;
demo71 0:694446246c35 149 wait(0.3);
demo71 0:694446246c35 150 }
demo71 0:694446246c35 151 //*************************
demo71 0:694446246c35 152 if(Boton3.falling()){
demo71 0:694446246c35 153 Ki--;
demo71 0:694446246c35 154 td.start();
demo71 0:694446246c35 155 }
demo71 0:694446246c35 156 //DISMINUYE*10 **************
demo71 0:694446246c35 157 if(Boton3.rising()){
demo71 0:694446246c35 158 td.stop();
demo71 0:694446246c35 159 td.reset();
demo71 0:694446246c35 160 }
demo71 0:694446246c35 161 if(td.read()>=2.0 && td.read()<4.0){
demo71 0:694446246c35 162 Ki=Ki-10;
demo71 0:694446246c35 163 wait(0.3);
demo71 0:694446246c35 164 }
demo71 0:694446246c35 165 else if(td.read()>=4.0){
demo71 0:694446246c35 166 Ki=Ki-100;
demo71 0:694446246c35 167 wait(0.3);
demo71 0:694446246c35 168 }
demo71 0:694446246c35 169 //*************************
demo71 0:694446246c35 170
demo71 0:694446246c35 171 if(Ki>=999){
demo71 0:694446246c35 172 Ki=999;
demo71 0:694446246c35 173 }
demo71 0:694446246c35 174 else if (Ki<=0){
demo71 0:694446246c35 175 Ki=0;
demo71 0:694446246c35 176 }
demo71 0:694446246c35 177
demo71 0:694446246c35 178 lcd.locate(8,0);
demo71 0:694446246c35 179 lcd.printf(">Ki=%d ",Ki);
demo71 0:694446246c35 180
demo71 0:694446246c35 181 if(Boton1.falling()){
demo71 0:694446246c35 182 goto set_Kd;
demo71 0:694446246c35 183 }
demo71 0:694446246c35 184
demo71 0:694446246c35 185 if(Boton4.falling()){
demo71 0:694446246c35 186 goto PID;
demo71 0:694446246c35 187 }
demo71 0:694446246c35 188
demo71 0:694446246c35 189 }
demo71 0:694446246c35 190
demo71 1:93e71ac5cf91 191 //Configuracion del parametro Kd
demo71 0:694446246c35 192 set_Kd:
demo71 0:694446246c35 193
demo71 0:694446246c35 194 lcd.cls();
demo71 0:694446246c35 195 lcd.locate(0,1);
demo71 0:694446246c35 196 lcd.printf(">Kd= ");
demo71 0:694446246c35 197
demo71 0:694446246c35 198 lcd.locate(1,0);
demo71 0:694446246c35 199 lcd.printf("Kp=%d",Kp);
demo71 0:694446246c35 200 lcd.locate(9,0);
demo71 0:694446246c35 201 lcd.printf("Ki=%d",Ki);
demo71 0:694446246c35 202 lcd.locate(9,1);
demo71 0:694446246c35 203 lcd.printf("Sp=%d",Sp);
demo71 0:694446246c35 204
demo71 0:694446246c35 205
demo71 1:93e71ac5cf91 206
demo71 0:694446246c35 207 while(1){
demo71 0:694446246c35 208
demo71 0:694446246c35 209 if(Boton2.falling()){
demo71 0:694446246c35 210 Kd++;
demo71 0:694446246c35 211 tu.start();
demo71 0:694446246c35 212 }
demo71 0:694446246c35 213 //AUMENTO*10 **************
demo71 0:694446246c35 214 if(Boton2.rising()){
demo71 0:694446246c35 215 tu.stop();
demo71 0:694446246c35 216 tu.reset();
demo71 0:694446246c35 217 }
demo71 0:694446246c35 218 if(tu.read()>=2.0 && tu.read()<4.0){
demo71 0:694446246c35 219 Kd=Kd+10;
demo71 0:694446246c35 220 wait(0.3);
demo71 0:694446246c35 221 }
demo71 0:694446246c35 222 else if(tu.read()>=4.0){
demo71 0:694446246c35 223 Kd=Kd+100;
demo71 0:694446246c35 224 wait(0.3);
demo71 0:694446246c35 225 }
demo71 0:694446246c35 226 //*************************
demo71 0:694446246c35 227 if(Boton3.falling()){
demo71 0:694446246c35 228 Kd--;
demo71 0:694446246c35 229 td.start();
demo71 0:694446246c35 230 }
demo71 0:694446246c35 231 //DISMINUYE*10 **************
demo71 0:694446246c35 232 if(Boton3.rising()){
demo71 0:694446246c35 233 td.stop();
demo71 0:694446246c35 234 td.reset();
demo71 0:694446246c35 235 }
demo71 0:694446246c35 236 if(td.read()>=2.0 && td.read()<4.0){
demo71 0:694446246c35 237 Kd=Kd-10;
demo71 0:694446246c35 238 wait(0.3);
demo71 0:694446246c35 239 }
demo71 0:694446246c35 240 else if(td.read()>=4.0){
demo71 0:694446246c35 241 Kd=Kd-100;
demo71 0:694446246c35 242 wait(0.3);
demo71 0:694446246c35 243 }
demo71 0:694446246c35 244 //*************************
demo71 0:694446246c35 245
demo71 0:694446246c35 246 if(Kd>=999){
demo71 0:694446246c35 247 Kd=999;
demo71 0:694446246c35 248 }
demo71 0:694446246c35 249 else if (Kd<=0){
demo71 0:694446246c35 250 Kd=0;
demo71 0:694446246c35 251 }
demo71 0:694446246c35 252
demo71 0:694446246c35 253 lcd.locate(0,1);
demo71 0:694446246c35 254 lcd.printf(">Kd=%d ",Kd);
demo71 0:694446246c35 255
demo71 0:694446246c35 256 if(Boton1.falling()){
demo71 0:694446246c35 257 goto set_Sp;
demo71 0:694446246c35 258 }
demo71 0:694446246c35 259
demo71 0:694446246c35 260 if(Boton4.falling()){
demo71 0:694446246c35 261 goto PID;
demo71 0:694446246c35 262 }
demo71 0:694446246c35 263
demo71 0:694446246c35 264 }
demo71 0:694446246c35 265
demo71 1:93e71ac5cf91 266 //Configuracion del parametro Sp
demo71 0:694446246c35 267 set_Sp:
demo71 0:694446246c35 268
demo71 0:694446246c35 269 lcd.cls();
demo71 0:694446246c35 270 lcd.locate(8,1);
demo71 0:694446246c35 271 lcd.printf(">Sp= ");
demo71 0:694446246c35 272
demo71 0:694446246c35 273 lcd.locate(1,0);
demo71 0:694446246c35 274 lcd.printf("Kp=%d",Kp);
demo71 0:694446246c35 275 lcd.locate(9,0);
demo71 0:694446246c35 276 lcd.printf("Ki=%d",Ki);
demo71 0:694446246c35 277 lcd.locate(1,1);
demo71 0:694446246c35 278 lcd.printf("Kd=%d",Kd);
demo71 0:694446246c35 279
demo71 1:93e71ac5cf91 280
demo71 0:694446246c35 281 while(1){
demo71 0:694446246c35 282
demo71 0:694446246c35 283 if(Boton2.falling()){
demo71 0:694446246c35 284 Sp++;
demo71 0:694446246c35 285 tu.start();
demo71 0:694446246c35 286 }
demo71 0:694446246c35 287 //AUMENTO*10 **************
demo71 0:694446246c35 288 if(Boton2.rising()){
demo71 0:694446246c35 289 tu.stop();
demo71 0:694446246c35 290 tu.reset();
demo71 0:694446246c35 291 }
demo71 0:694446246c35 292 if(tu.read()>=2.0 && tu.read()<4.0){
demo71 0:694446246c35 293 Sp=Sp+10;
demo71 0:694446246c35 294 wait(0.3);
demo71 0:694446246c35 295 }
demo71 0:694446246c35 296 else if(tu.read()>=4.0){
demo71 0:694446246c35 297 Sp=Sp+100;
demo71 0:694446246c35 298 wait(0.3);
demo71 0:694446246c35 299 }
demo71 0:694446246c35 300 //*************************
demo71 0:694446246c35 301 if(Boton3.falling()){
demo71 0:694446246c35 302 Sp--;
demo71 0:694446246c35 303 td.start();
demo71 0:694446246c35 304 }
demo71 0:694446246c35 305 //DISMINUYE*10 **************
demo71 0:694446246c35 306 if(Boton3.rising()){
demo71 0:694446246c35 307 td.stop();
demo71 0:694446246c35 308 td.reset();
demo71 0:694446246c35 309 }
demo71 0:694446246c35 310 if(td.read()>=2.0 && td.read()<4.0){
demo71 0:694446246c35 311 Sp=Sp-10;
demo71 0:694446246c35 312 wait(0.3);
demo71 0:694446246c35 313 }
demo71 0:694446246c35 314 else if(td.read()>=4.0){
demo71 0:694446246c35 315 Sp=Sp-100;
demo71 0:694446246c35 316 wait(0.3);
demo71 0:694446246c35 317 }
demo71 0:694446246c35 318 //*************************
demo71 0:694446246c35 319
demo71 0:694446246c35 320 if(Sp>=999){
demo71 0:694446246c35 321 Sp=999;
demo71 0:694446246c35 322 }
demo71 0:694446246c35 323 else if (Sp<=0){
demo71 0:694446246c35 324 Sp=0;
demo71 0:694446246c35 325 }
demo71 0:694446246c35 326
demo71 0:694446246c35 327 lcd.locate(8,1);
demo71 0:694446246c35 328 lcd.printf(">Sp=%d ",Sp);
demo71 0:694446246c35 329
demo71 0:694446246c35 330 if(Boton1.falling()){
demo71 0:694446246c35 331 goto set_Kp;
demo71 0:694446246c35 332 }
demo71 0:694446246c35 333
demo71 0:694446246c35 334 if(Boton4.falling()){
demo71 0:694446246c35 335 goto PID;
demo71 0:694446246c35 336 }
demo71 0:694446246c35 337
demo71 0:694446246c35 338 }
demo71 1:93e71ac5cf91 339 //Inicia algoritmo del PID
demo71 0:694446246c35 340 PID:
demo71 0:694446246c35 341 lcd.cls();
demo71 0:694446246c35 342
demo71 0:694446246c35 343 while(1){
demo71 0:694446246c35 344
demo71 0:694446246c35 345 yT=vcond.read()*3.3;
demo71 0:694446246c35 346 eT=Sp-yT;
demo71 0:694446246c35 347 iT=Ki*eT+iT0; //Accion Integral
demo71 0:694446246c35 348 dT=Kd*(eT-eT0); //Accion Derivativa
demo71 0:694446246c35 349 uT=iT+Kp*eT+dT;
demo71 0:694446246c35 350 if (uT>3.3) { //Salida PID si es mayor que el MAX
demo71 0:694446246c35 351 uT=3.3;}
demo71 0:694446246c35 352 else if (uT<0){ //Salida PID si es menor que el MIN
demo71 0:694446246c35 353 uT=0;
demo71 0:694446246c35 354 }
demo71 1:93e71ac5cf91 355 iT0=iT; //Actualizando variables para el paso siguiente
demo71 0:694446246c35 356 eT0=eT;
demo71 1:93e71ac5cf91 357 control=(float)uT/3.3;//Accion de control mapeada a PWM; salida de la tarjeta.
demo71 0:694446246c35 358
demo71 1:93e71ac5cf91 359 //Mostrando error y salida actual
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 1:93e71ac5cf91 366
demo71 0:694446246c35 367
demo71 0:694446246c35 368
demo71 0:694446246c35 369 }
demo71 0:694446246c35 370
demo71 0:694446246c35 371