Joao Luiz Almeida de Souza Ramos / Mbed 2 deprecated furutacontroller

a controller for a furuta pendulum

Dependencies:   QEI mbed-rtos mbed

Files at this revision

API Documentation at this revision

Revision 11:7e19e51b325d, committed 2013-12-04

Comitter:
jaoramos
Date:
Wed Dec 04 04:19:30 2013 +0000
Parent:
10:d14c702c1992
Child:
12:d09b8ffa176f
Commit message:
Swinp-up OK, LQR improved OK, transition not working;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Dec 04 04:11:41 2013 +0000
+++ b/main.cpp	Wed Dec 04 04:19:30 2013 +0000
@@ -43,7 +43,8 @@
 
 //Controller gains - Full-state Feedback
 //float k1 = -0.0316, k2 = 9.7076, k3 = -0.4095, k4 = 1.2340, k5 = 0.0410;
-float k1 = -0.3162, k2 = 18.278, k3 = -0.8964, k4 = 2.4441, k5 = 0.1843;
+//float k1 = -0.3162, k2 = 18.278, k3 = -0.8964, k4 = 2.4441, k5 = 0.1843;
+float k1 = -0.1000 , k2 = 12.0293, k3 = -0.5357, k4 = 1.5522, k5 = 0.1684;
 
 float encoder_conv = 2*OUR_PI/(float(ENCODER_PPR)*float(ENC_QUADRATURE_TYPE));
 float motor_conv = 2*OUR_PI/(float(MOTOR_PPR)*float(MOT_QUADRATURE_TYPE));
@@ -176,7 +177,8 @@
         if (cos(theta2) < 0.96) { 
             flag = 1;
             currentEnergy = calcEnergy();
-            inputVoltage = -2.3*dtheta2*(0.0372 - currentEnergy);                   
+            inputVoltage = -2.3*dtheta2*(0.0372 - currentEnergy); 
+            inputVoltage = 0.0;                  
             
         } else {
             flag = 1;