Department of Electrical Eng University of Moratuwa
rtos sd encoder systems
Diff: main.cpp
- Revision:
- 2:00c6646f42fb
- Parent:
- 1:db36f62f783b
--- a/main.cpp Mon Aug 19 18:01:21 2019 +0000
+++ b/main.cpp Fri Jan 10 04:08:21 2020 +0000
@@ -1,142 +1,203 @@
+/*
+* Force Controlled Vibration Analysis -
+*
+* 22.08.2019
+* Theekshana
+*/
+
#include "mbed.h"
#include "rtos.h"
#include "SDFileSystem.h"
#include "qeihw.h"
-//------------------------------------------------------------------------------
-Serial pc(USBTX, USBRX);
+
+//---------------------------=Communication Pins=-------------------------------
+
DigitalOut led3(LED3);
DigitalOut led1(LED1);
SDFileSystem sd(p5, p6, p7, p8, "sd"); // pintout for sd card
-//-------------------------=Thread Variables=-----------------------------------
+Serial pc(USBTX, USBRX);
+//--------------------------=Motor Driver Controller Pin =-----------------------------
+DigitalOut Reset_AB(p29); // H bridge enable
+DigitalOut Reset_CD(p30);
+DigitalOut Reset_AB_s(p27);
+DigitalOut Reset_CD_s(p28);
+
+
+PwmOut pwm_clk_s(p23); // clockwise rotation pwm pin for Slave
+PwmOut pwm_anticlk_s(p24);
+PwmOut pwm_clk(p21); // clockwise rotation pwm pin for Master
+PwmOut pwm_anticlk(p22);
+
+//--------------------------=Current Sensor MBED Pins=--------------------------
+int Master_Direction=0;
+int slave_Direction=0;
+
+DigitalIn M_Dir(p10);
+DigitalIn S_Dir(p9);
+AnalogIn current_sensor_s_p(p15); // current sensor input for MASTER positive
+AnalogIn current_sensor_s_n(p16);
+AnalogIn current_sensor_m_p(p17); // current sensor input for MASTER positive
+AnalogIn current_sensor_m_n(p18); // current sensor input for MASTER negative
+
+float I_res_m = 0.0;
+float I1_act_m=0.0;
+float I_msrd=0.0;
+float G_Cfilter=30.0;
+
+//--------------------------=Ethernet Variable=---------------------------------
+Ethernet eth;
+
+
+//--------------------------=Thread Variables=-----------------------------------
Ticker time_up;
float startTime=0.0;
float tempTime = 0.0;
float endTime=0.0;
Timer timer;
float preTime = 0.0;
-//-------------------------=Velocity reading variables=-------------------------
+
+//--------------------------=Velocity reading variables=-------------------------
char buf[0x600];
float recv_angle = 0.0;
float x_res = 0.0;
-float dt = 0.000001*150.0;
+float dt = 0.000001*200.0;
float ve_sum = 0.0;
float dx_res = 0.0;
float G_filter_v = 100.0;
float duty = 0.0;
-//-------------------------=Current PID Variables=------------------------------
-float K_pi=25.0;
-float K_di=0.0;
-float K_ii=1.0;
-float I_ref = 0.02;
-float I_error = 0.0;
-float I_PID = 0.0;
-float I_err_sum = 0.0;
-float I_err_prev = 0.0;
-//--------------------------=Motor Variables=-----------------------------------
-DigitalOut Reset_AB(p29);
-DigitalOut Reset_CD(p30);
-PwmOut pwm_clk(p23);
-PwmOut pwm_anticlk(p24);
-//-------------------------=DoB variables=--------------------------------------
+
+//--------------------------=DoB variables=--------------------------------------
float K_tn=0.135;
float J_n = 0.0000720;
-float g_dis = 100.0;
+float B = 0.0;
+
+float g_dis = 1.0;
float D_DoB = 0.0;
float D_BFilter = 0.0;
float D_AFilter = 0.0;
-//-------------------------=Ethernet Variables=---------------------------------
-Ethernet eth;
+float I_DoB = 0.0;
+
+//--------------------------=RTOB Variables=-------------------------------------
+float RT_BFilter=0.0;
+float RT_AFilter = 0.0;
+float RTOB = 0.0;
+//-------------------------=slave current controller variables=-----------------
+int count = 0;
+int countprev = 0;
+float I_ref = 1.0;
+float K_pis =5.0;
+float K_dis = 0.0;
+float K_iis = 0.0;
-//-------------------------=Current controller parameters=----------------------
-int Master_Direction=0;
-DigitalIn M_Dir(p10);
-AnalogIn current_sensor_m_p(p17); // current sensor input for MASTER positive
-AnalogIn current_sensor_m_n(p18); // current sensor input for MASTER negative
-float I_res_m = 0.0;
-float I1_act_m=0.0;
-float I_msrd=0.0;
-float G_Cfilter=30.0;
-//---------------------------------=Velocity=-----------------------------------
+float I_error_s = 0.0;
+float I_ref_s = 0.0;
+float I_err_sum_s = 0.0;
+float I_PID_s = 0.0;
+float I_err_prev_s = 0.0;
+float duty_s = 0.0;
+
+float I_res_s = 0.0;
+float I1_act_s = 0.0;
+float I_msrd_s = 0.0;
+//--------------------------=Velocity controller variables=---------------------
+float V_error=0.0;
+float V_cmd =50.0;
+float k_pv = 0.02;
+float V_pid = 0.0;
+float dx_res_prev = 0.0;
+float dxdx_res = 0.0;
+
+//--------------------------=Read Velocity=-------------------------------------
void readVelocity(){
- int size2 = eth.receive();
- if(size2 > 0)
- {
- eth.read(buf, size2);
- memcpy(&recv_angle, buf, sizeof(float));
- x_res = -1*recv_angle;
- }
- ve_sum += dx_res*dt;
- dx_res =G_filter_v*( x_res-ve_sum);
-}//-----------------------------=Current Meassurement=--------------------------
-void readCurrent(){
- Master_Direction = M_Dir.read();
+ int size2 = eth.receive();
+ if(size2 > 0)
+ {
+ eth.read(buf, size2);
+ memcpy(&recv_angle, buf, sizeof(float));
+ x_res = -1*recv_angle;
+ }
+ dx_res_prev = dx_res;
+ ve_sum += dx_res*dt;
+ dx_res =G_filter_v*( x_res-ve_sum);
+ dxdx_res = (dx_res-dx_res_prev)/dt;
+}
+
+
+//--------------------------=Distarbance Observer=------------------------------
+void DoB()
+{
+ D_BFilter=(I_msrd*K_tn) + (dx_res*J_n*g_dis);
+ D_AFilter += g_dis*(D_BFilter-D_AFilter)*dt;
+ D_DoB = D_AFilter - (dx_res*J_n*g_dis);
+ I_DoB = D_DoB/K_tn;
- if(Master_Direction == 0){ //master clockwise
- I_res_m = current_sensor_m_p.read();
- I1_act_m = -1.0*((I_res_m*3.3/0.7) ); //0.74787687701613 //0.717075441532258
-
- }else if(Master_Direction == 1) { //master anticlockwise
- I_res_m = current_sensor_m_n.read();
- I1_act_m = 1.0*((I_res_m*3.3)/0.7); //0.713239227822580
- }
- I_msrd += G_Cfilter*(I1_act_m-I_msrd)*dt;
- }
-
-//-----------------------------=Current Controller PID=-------------------------
-void currentPID(){
- I_error = I_ref - I_msrd;
- I_err_sum+= (I_error*dt);
- I_PID = (K_pi * I_error)+(K_di*(I_error-I_err_prev)/dt)+(K_ii*I_err_sum);
- I_err_prev = I_error;
- }
-//-----------------------------=Motor PWM Initialization=-----------------------
-void motorPWM_init(){
+//--------------------------=Reaction Force Observer=------------------------------
+ /* RT_BFilter = D_BFilter - (T_f+B*dx_res);
+ RT_AFilter += g_dis*(RT_BFilter-RT_AFilter)*dt;
+ RTOB = RT_AFilter - (dx_res*J_n*g_dis);*/
+}
+
+
+//--------------------------=Motor PWM Initialization=--------------------------
+void motorPWM_init()
+{
pwm_clk.period_us(10);
+ pwm_clk_s.period_us(10);
+ pwm_anticlk_s.period_us(10);
pwm_anticlk.period_us(10);
pwm_clk.write(0.0f);
pwm_anticlk.write(0.0f);
+ pwm_clk_s.write(0.0f);
+ pwm_anticlk_s.write(0.0f);
Reset_AB = 1;
Reset_CD = 1;
- }
-//-----------------------------=Motor PWM Generation=---------------------------
-void motorPWM(){
- duty = I_PID;
- if (duty> 0.0) {
- if (duty > 0.5) {
- duty = 0.5;
+ Reset_AB_s =1;
+ Reset_CD_s =1;
+}
+
+//--------------------------=Motor PWM Generation=------------------------------
+void motorPWM()
+{
+ duty = V_pid;
+ if (duty> 0.0)
+ {
+ if (duty > 0.9)
+ {
+ duty = 0.9;
}
pwm_clk = 0.0;
pwm_anticlk = duty;
}
- if (duty < 0.0) {
- if (duty< -0.5) {
- duty = -0.5;
+ if (duty < 0.0)
+ {
+ if (duty< -0.9)
+ {
+ duty = -0.9;
}
pwm_anticlk = 0.0;
pwm_clk = -1.0 * duty;
}
- }
-//--------------------------=Distarbance Observer=------------------------------
-void DoB(){
- D_BFilter=(I_msrd*K_tn) + (dx_res*J_n*g_dis);
- D_AFilter += g_dis*(D_BFilter-D_AFilter)*dt;
- D_DoB = D_AFilter - (dx_res*J_n*g_dis);
-
+}
+
+//---------------------------=Slave motor current reading=----------------------
+void slaveCurrentRead()
+{
+ slave_Direction = S_Dir.read();
+
+ if(slave_Direction == 0)
+ {
+ I_res_s = current_sensor_s_p.read();
+ I1_act_s = -1.0*((I_res_s*3.3/0.7) );//0.74787687701613 //0.717075441532258
+
+ }else if(slave_Direction == 1) { //master anticlockwise
+ I_res_s = current_sensor_s_n.read();
+ I1_act_s = 1.0*((I_res_s*3.3)/0.7); //0.713239227822580
}
-//--------------------------=Control Loop=--------------------------------------
-void controlLoop(){
- tempTime = timer.read_us();
- startTime = tempTime-preTime;
- preTime = tempTime;
- readVelocity();
- readCurrent();
- currentPID();
- motorPWM();
- DoB();
-
+ I_msrd_s += G_Cfilter*(I1_act_s-I_msrd_s)*dt;
+
}
-//------------------------------=File print test=-------------------------------
+//--------------------------=File print test=-----------------------------------
void sd_card_write_test()
{
mkdir("/sd/mydir", 0777);
@@ -146,32 +207,22 @@
error("Could not open file for write\n");
}
fprintf(fp, "Hello fun SD Card World!");
- fclose(fp);
+ //fclose(fp);
//fprintf(fp,"startTime\t I_ref\t I_msrd\t dx_res\t\n");
-
}
-//----------------------------=File print=--------------------------------------
+//--------------------------=File print=----------------------------------------
void sd_card_write()
{
- led1=!led1;
+ //led1=!led1;
FILE *fp = fopen("/sd/mydir/sdtest.txt","a");
- fprintf(fp,"%f\t %f\t %f\t %f\t\r\n",startTime, I_ref, I_msrd, dx_res);
+ fprintf(fp,"%f\t \r\n",I_msrd_s);
fclose(fp);
}
-//------------------------=Printing to a file=----------------------------------
-void thread_2(void const *argument)
-{
- while(1)
- {
- //pc.printf("%f %f\n",I1_act_m,I_msrd);
- pc.printf("%f %f %f %f %f %f \n",startTime,I_ref,I_msrd,I_PID,x_res,D_DoB);
- //sd_card_write();
- }
-}
-//-----------------------------=Ethernet Initialization=------------------------
+//--------------------------=Ethernet Initialization=---------------------------
+
void ethernet_init()
{
eth.set_link(Ethernet::HalfDuplex100);
@@ -185,14 +236,124 @@
}
}
}
+//--------------------------=velocity controller=-------------------------------
+void velocitycontroller(){
+ V_error=(V_cmd*0.1047198-dx_res);
+ V_pid = k_pv*V_error;
+
+ }
+//--------------------------=Main Control Loop=---------------------------------
+void controlLoop(){
+ count = count+1;
+ if (count<100000){
+ if (count>1000 and count<1500){
+ V_cmd=100.0;}
+ else if (count>1500 and count<2000){
+ V_cmd=150.0;}
+ else if (count>2000 and count<2500){
+ V_cmd=200.0;}
+ else if (count>2500 and count<3000){
+ V_cmd=250.0;}
+ else if (count>3000 and count<3500){
+ V_cmd=400.0;}
+ else if (count>3500 and count<4000){
+ V_cmd=200.0;}
+ else if (count>4000 and count<4500){
+ V_cmd=400.0;}
+ else if (count>4500 and count<20000){
+ V_cmd=100.0+50.0*sin(0.00314159265*(count-4500));}
+ else if (count>20000 and count<40000){
+ V_cmd=200.0+100.0*sin(0.0062831853*(count-20000));}
+ else if (count>40000 and count<60000){
+ V_cmd=150.0;}
+ else if (count>60000 and count<80000){
+ V_cmd=300.0+150.0*sin(0.0062831853*(count-60000));}
+ else if (count>80000 and count<100000){
+ V_cmd = 250.0;}
+ }
+ else if (count>100000 and count<200000){
+ if (count>100000 and count<100500){
+ V_cmd=150.0;}
+ else if (count>100500 and count<102000){
+ V_cmd=50.0;}
+ else if (count>102000 and count<102500){
+ V_cmd=100.0;}
+ else if (count>102500 and count<103000){
+ V_cmd=200.0;}
+ else if (count>103000 and count<103500){
+ V_cmd=600.0;}
+ else if (count>103500 and count<104000){
+ V_cmd=300.0;}
+ else if (count>104000 and count<104500){
+ V_cmd=250.0;}
+ else if (count>104500 and count<120000){
+ V_cmd=150.0+60.0*sin(0.00314159265*(count-104500));}
+ else if (count>120000 and count<140000){
+ V_cmd=250.0+150.0*sin(0.0062831853*(count-120000));}
+ else if (count>140000 and count<160000){
+ V_cmd=550.0;}
+ else if (count>160000 and count<180000){
+ V_cmd=350.0+200.0*sin(0.0062831853*(count-160000));}
+ else if (count>180000 and count<200000){
+ V_cmd = 500.0;}
+ }
+ else if (count>200000 and count<300000){
+ if (count>200000 and count<200500){
+ V_cmd=70.0;}
+ else if (count>200500 and count<202000){
+ V_cmd=120.0;}
+ else if (count>202000 and count<202500){
+ V_cmd=300.0;}
+ else if (count>202500 and count<203000){
+ V_cmd=100.0;}
+ else if (count>203000 and count<203500){
+ V_cmd=500.0;}
+ else if (count>203500 and count<204000){
+ V_cmd=400.0;}
+ else if (count>204000 and count<204500){
+ V_cmd=250.0;}
+ else if (count>204500 and count<220000){
+ V_cmd=450.0+80.0*sin(0.00314159265*(count-204500));}
+ else if (count>220000 and count<240000){
+ V_cmd=350.0+150.0*sin(0.0062831853*(count-220000));}
+ else if (count>240000 and count<260000){
+ V_cmd=150.0;}
+ else if (count>260000 and count<280000){
+ V_cmd=350.0+200.0*sin(0.0062831853*(count-260000));}
+ else if (count>280000 and count<300000){
+ V_cmd = 400.0;}
+ }
+ slaveCurrentRead();
+ readVelocity();
+ velocitycontroller();
+ DoB();
+ motorPWM();
+
+}
//----------------------------------=Main Loop=---------------------------------
int main()
{
- //sd_card_write_test();
+
+ sd_card_write_test();
ethernet_init();
motorPWM_init();
+ FILE *fp = fopen("/sd/mydir/sdtest.txt","w");
timer.start();
time_up.attach(&controlLoop, dt);
- Thread thread(*thread_2,NULL,osPriorityAboveNormal,DEFAULT_STACK_SIZE*10.0,NULL);
-}
\ No newline at end of file
+ //Thread thread(*thread_2,NULL,osPriorityAboveNormal,DEFAULT_STACK_SIZE*10.0,NULL);
+ while(1)
+ {
+ if (count<3500 and count!=countprev and count%2==0){ //350000
+ led1=0;
+ fprintf(fp,"%d %f %f %f %f\n",count, D_DoB,I_msrd_s,dx_res,dxdx_res); //9.54929658551
+ countprev=count;
+ }
+ else if(count>5000){
+ led1=1;
+ fclose(fp);
+ }
+ //pc.printf("%f\t \r\n",I_msrd_s); //dx_res*9.549296586
+ //sd_card_write();
+ }
+}