Camilo Londoño
Control PID para horno de reflujo con seguimiento de consigna
Dependencies: Debounced Pulse1 QEI RTC-DS1307 TextLCD mbed
Fork of
Tarea3_procesadores_Ds1307
by 
Camilo Londoño
Tarea 4 procesadores 2018-1
Juan Camilo Londoño Julieta Serrano Escalante
PID para horno de reflujo conseguimiento de consigna
Revision 3:35a40be1047f, committed 2018-06-01
- Comitter:
- jclondonol
- Date:
- Fri Jun 01 21:58:03 2018 +0000
- Parent:
- 2:bef1b1c9e387
- Commit message:
- Tarea 4 Control PID para horno de reflujo con seguimiento de consigna
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r bef1b1c9e387 -r 35a40be1047f main.cpp
--- a/main.cpp Wed May 09 19:55:50 2018 +0000
+++ b/main.cpp Fri Jun 01 21:58:03 2018 +0000
@@ -5,69 +5,50 @@
#include "Rtc_Ds1307.h"
#include <Pulse1.h>
-TextLCD lcd(PTB0, PTB1, PTB2, PTB3, PTC2, PTC1); // rs, e, d4, d5, d6, d7
+TextLCD lcd(PTE20, PTB1, PTB2, PTB3, PTC2, PTE21); // rs, e, d4, d5, d6, d7
Rtc_Ds1307 rtc(PTE0, PTE1);
QEI wheel (PTD7, PTD6, NC, 30);
DebouncedIn button_enco(PTC5);
-PwmOut Sonido(PTD1);
-PulseInOut irda(PTD5);// en este puerto se pone el sensor infrarrojo
-
-
-float periodo;
-float Frecuencia = 4000;
-int C1 = 0x0C;
-int m = 0, flag = 0;
-uint8_t pot[7] = {1, 2, 4, 8, 16, 32, 64};
-uint8_t pot1[7] = {254, 253, 251, 248, 239, 223, 191};
-int Lugar = 0; // Definen el punto en el cual va el programa
-int i = 0, j = 0;
-int pos = 0; // Reloj:0, Alarma1:1, Alarma2:2, ... , Alarma7:7
-uint8_t state_alarms = 0, pos_alarm = 0, alarma = 0;
-
-//irda
-int header = 0; //tiempo de cabecera pulso abajo
-const int head_H = 4532; //+20% medida con osciloscopio en microsegundos
-const int head_L = 4494;//-20% medida con osciloscopio
-int g = 0, h = 0, count = 0;
-const int T_alto = 1600;//ponga su tiempo de la prueba
-const int T_bajo = 485;//ponga su tiempo de la prueba
-const int num_bits = 32;//ponga su numero de bits
-int num[num_bits];//cadena para almacenar todos los tiempos que conforman los bits de datos
-int sec[num_bits];//cadena para almacenar la cadena codificada en binario
-int dato; // tiempo de cada dato que se lee
-int boton_sel = 10;
-int boton[10][32]= {{1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,1,0,0,0,1,0,0,0,0,1,1,1,0,1,1,0}, //0
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,0,1,0,0,0,0,0,1,1,0,1,1,1,1,0}, //1
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,1,0,1,0,0,0,0,0,0,1,0,1,1,1,1,0}, //2
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,1,1,0,0,0,0,0,1,0,0,1,1,1,1,0}, //3
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,0,0,1,0,0,0,0,1,1,1,0,1,1,1,0}, //4
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,1,0,0,1,0,0,0,0,0,1,1,0,1,1,1,0}, //5
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,1,0,1,0,0,0,0,1,0,1,0,1,1,1,0}, //6
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,0,1,1,0,0,0,0,1,1,0,0,1,1,1,0}, //7
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,1,0,1,1,0,0,0,0,0,1,0,0,1,1,1,0}, //8
- {1,1,1,0,0,0,0,0,1,1,1,0,0,0,0,0,0,1,1,1,0,0,0,0,1,0,0,0,1,1,1,0}}; //9
+PwmOut U_pwm(PTE29);
+AnalogOut U_analog(PTE30);
+AnalogIn Y(A0);
+DigitalOut pwm_analog(PTC6);
int main()
{
+ int C1 = 0x0C;
+ int m = 0;
+ int Lugar = 0; // Definen el punto en el cual va el programa
+ int i = 0;
+ int pos = 0;
+ int Kp = 1, Ki = 1, Kd = 1, Sp = 0;
+ float sp_temp = 0;
+ float T1 = 0.1, T2 = 0.1, T3 = 0.1;
+ int flag_pwm = 0;
+ float periodo;
+ float Frecuencia = 2000;
+ float pid = 0,ai = 0,ad = 0,ap = 0,med = 0,err = 0;
+ float err_v;
+ int tiempo = 0, sec = 0, sec_ant = 0;
+
Rtc_Ds1307::Time_rtc tm = {};
- Rtc_Ds1307::Time_rtc Alarm[7] = {};
lcd.cls();
lcd.writeCommand(C1);//escribimos un comando segun el manual del modulo LCD
lcd.locate(0,0);
+ rtc.getTime(tm);
periodo=(1/Frecuencia);
- Sonido.period(periodo);
- rtc.getTime(tm); //lee el tiempo del DS1307
- Sonido.write(255);
-
+ U_pwm.period(periodo);
+ U_pwm.pulsewidth(0);
+ U_analog = 0.0;
+ pwm_analog = 0;
+
while(1)
{
switch (Lugar)
{
- case 0:
-
- rtc.getTime(tm);
+ case 0: // Seleccionar Configuracion
m = wheel.getPulses();
if(m != 0)
{
@@ -76,478 +57,433 @@
m = 0;
lcd.cls();
}
- if(pos > 7)
- {
- pos = -1;
- }
- if(pos < -1)
- {
- pos = 7;
- }
- if(pos == 0)
- {
- lcd.locate(0,0);
- lcd.printf("Time: ");
- lcd.locate(8,0);
- lcd.printf("%02d:",tm.hour);
- lcd.printf("%02d:",tm.min);
- lcd.printf("%02d",tm.sec);
- lcd.locate(0,1);
- lcd.printf("%02d/",tm.mon);
- lcd.printf("%02d/",tm.date);
- lcd.printf("%02d",tm.year);
- wait(0.1);
- }
+ if(pos > 3){pos = 0;}
+ if(pos < 0){pos = 3;}
- if(pos == -1)
- {
- lcd.locate(0,0);
- lcd.printf("Alarm Setup IRDA");
- wait(0.1);
- }
-
-
- if(pos > 0)
+ switch(pos)
{
- lcd.locate(0,0);
- lcd.printf("Alarm %d", pos);
- lcd.locate(8,0);
- lcd.printf("%02d:",Alarm[pos - 1].hour);
- lcd.printf("%02d:",Alarm[pos - 1].min);
- lcd.printf("%02d",Alarm[pos - 1].sec);
- lcd.locate(0,1);
- lcd.printf("%02d/",Alarm[pos - 1].mon);
- lcd.printf("%02d/",Alarm[pos - 1].date);
- lcd.printf("%02d",Alarm[pos - 1].year);
- lcd.locate(13,1);
- if((state_alarms&(pot[pos - 1])) == pot[pos - 1])
- {
- lcd.printf("On ");
- }
- else
- {
- lcd.printf("Off");
- }
-
- wait(0.1);
- }
- for(j=0;j<7;j++)
- {
- if( (tm.date==Alarm[j].date)&&(tm.mon==Alarm[j].mon)&&(tm.year==Alarm[j].year)&&(tm.hour==Alarm[j].hour)&&(tm.min==Alarm[j].min)&&(tm.sec==Alarm[j].sec)&&((state_alarms&(pot[j])) == pot[j]))
- {
- Lugar = 2;
- lcd.cls();
+ case 0:
+ lcd.locate(0,0);
+ lcd.printf("Kp: %03d", Kp);
+ lcd.locate(8,0);
+ lcd.printf("Ki: %03d", Ki);
+ lcd.locate(0,1);
+ lcd.printf("Kd: %03d", Kd);
+ lcd.locate(8,1);
+ lcd.printf("Sp: %03d", Sp);
+ wait(0.1);
+ break;
+ case 1:
lcd.locate(0,0);
- lcd.printf("Active Alarm%d!!!",(j+1));
+ lcd.printf("T1: %0.1f", T1);
+ lcd.locate(8,0);
+ lcd.printf("T2: %0.1f", T2);
+ lcd.locate(0,1);
+ lcd.printf("T3: %0.1f", T3);
+ lcd.locate(8,1);
+ lcd.printf("(min)");
+ wait(0.1);
+ break;
+ case 2:
+ lcd.locate(0,0);
+ lcd.printf("Setup Out");
lcd.locate(0,1);
- lcd.printf("->Disable ");
- lcd.locate(10,1);
- lcd.printf("--5min");
- pos_alarm = j;
- }
+ if(flag_pwm == 0)
+ {
+ lcd.printf("-> Pwm -- Analog");
+ }
+ else
+ {
+ lcd.printf("-- Pwm -> Analog");
+ }
+ break;
+ case 3:
+ lcd.locate(0,0);
+ lcd.printf("Start PID");
+ break;
}
if (button_enco.falling()) //si se pulsa boton encoder
{
- if(pos == -1)
- {Lugar = 3;
- lcd.cls();}
- else
- {Lugar = 1;}
-
+ if(pos == 0)
+ {
+ Lugar = 1;
+ i = 0;
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("Kp: ");
+ }
+ if(pos == 1)
+ {
+ Lugar = 2;
+ i = 0;
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("T1: ");
+ }
+ if(pos == 2)
+ {
+ Lugar = 3;
+ }
+ if(pos == 3)
+ {
+ Lugar = 4;
+ lcd.cls();
+ tm.min = 0;
+ tm.sec = 0;
+ tm.hour = 1;
+ tm.mon = 1;
+ tm.date = 1;
+ tm.year = 2018;
+ rtc.setTime(tm, false, false);
+
+ rtc.startClock();
+ lcd.locate(0,1);
+ lcd.printf("Time: ");
+ }
}
break;
- case 1:
+ case 1: // Configurar Constantes
switch(i)
- {
- case 0:
- if(pos == 0)
- {
- lcd.cls();
- lcd.locate(0,0);
- lcd.printf("Time Setup");
- }
-
- if(pos > 0)
- {
- lcd.cls();
- lcd.locate(0,0);
- lcd.printf("Alarm %d Setup", pos);
- }
- wait(1);
- i++;
- lcd.cls();
- lcd.locate(0,0);
- lcd.printf("Day: ");
- break;
-
- case 1:
+ {
+ case 0: // Establecer Kp
m = wheel.getPulses();
if (m != 0)
{
- tm.date = tm.date + m;
- if(tm.date > 31)
+ Kp = Kp + m;
+ if(Kp > 99)
{
- tm.date = 1;
+ Kp = 0;
}
- if(tm.date < 1)
+ if(Kp < 0)
{
- tm.date = 31;
+ Kp = 99;
}
wheel.reset();
m = 0;
}
- lcd.locate(5,0);
- lcd.printf("%02d",tm.date);
+ lcd.locate(4,0);
+ lcd.printf("%03d",Kp);
if (button_enco.falling())
{
i++;
lcd.cls();
lcd.locate(0,0);
- lcd.printf("Month: ");
+ lcd.printf("Ki: ");
}
break;
- case 2:
+ case 1: // Establecer Ki
m = wheel.getPulses();
if (m != 0)
{
- tm.mon = tm.mon + m;
- if(tm.mon > 12)
+ Ki = Ki + m;
+ if(Ki > 99)
{
- tm.mon = 1;
+ Ki = 0;
}
- if(tm.mon < 1)
+ if(Ki < 0)
{
- tm.mon = 12;
+ Ki = 99;
}
wheel.reset();
m = 0;
}
- lcd.locate(7,0);
- lcd.printf("%02d",tm.mon);
+ lcd.locate(4,0);
+ lcd.printf("%03d",Ki);
if (button_enco.falling())
{
i++;
lcd.cls();
lcd.locate(0,0);
- lcd.printf("Year: ");
+ lcd.printf("Kd: ");
}
break;
- case 3:
+ case 2: // Establecer Kd
m = wheel.getPulses();
if (m != 0)
{
- tm.year = tm.year + m;
- if(tm.year < 2000)
+ Kd = Kd + m;
+ if(Kd > 99)
{
- tm.year = 2000;
+ Kd = 0;
+ }
+ if(Kd < 0)
+ {
+ Kd = 99;
}
wheel.reset();
m = 0;
}
- lcd.locate(6,0);
- lcd.printf("%02d",tm.year);
-
- if (button_enco.falling())
- {
- i++;
- lcd.cls();
- lcd.locate(0,0);
- lcd.printf("Hours: ");
- }
- break;
-
- case 4:
- m = wheel.getPulses();
- if (m != 0)
- {
- tm.hour = tm.hour + m;
- if(tm.hour > 23)
- {
- tm.hour = 0;
- }
- if(tm.hour < 0)
- {
- tm.hour = 23;
- }
- wheel.reset();
- m = 0;
- }
- lcd.locate(7,0);
- lcd.printf("%02d",tm.hour);
+ lcd.locate(4,0);
+ lcd.printf("%03d",Kd);
if (button_enco.falling())
{
i++;
lcd.cls();
lcd.locate(0,0);
- lcd.printf("Minutes: ");
+ lcd.printf("Sp: ");
}
-
break;
- case 5:
+ case 3: // Establecer Sp
m = wheel.getPulses();
if (m != 0)
{
- tm.min = tm.min + m;
- if(tm.min > 59)
+ Sp = Sp + m*1;
+ if(Sp > 100)
{
- tm.min = 0;
+ Sp = 0;
}
- if(tm.min < 0)
+ if(Sp < 0)
{
- tm.min = 59;
+ Sp = 100;
}
-
wheel.reset();
m = 0;
}
- lcd.locate(9,0);
- lcd.printf("%02d",tm.min);
+ lcd.locate(4,0);
+ lcd.printf("%03d",Sp);
+
+ if (button_enco.falling())
+ {
+ lcd.cls();
+ lcd.locate(0, 0);
+ lcd.printf("Parameters Set");
+ wait(1);
+ i = 0;
+ Lugar = 0;
+ lcd.cls();
+ }
+
+ break;
+ }
+ break;
+
+
+ case 2: // Configurar Tiempos
+ switch(i)
+ {
+ case 0: // Establecer T1
+ m = wheel.getPulses();
+ if (m != 0)
+ {
+ T1 = T1 + m*0.1;
+ if(T1 > 5.0)
+ {
+ T1 = 0.1;
+ }
+ if(T1 < 0.1)
+ {
+ T1 = 5.0;
+ }
+ wheel.reset();
+ m = 0;
+ }
+ lcd.locate(4,0);
+ lcd.printf("%0.1f (min)",T1);
if (button_enco.falling())
{
i++;
lcd.cls();
lcd.locate(0,0);
- lcd.printf("Seconds: ");
+ lcd.printf("T2: ");
+ T2 = T1 + 0.1;
}
break;
-
- case 6:
+ case 1: // Establecer T2
m = wheel.getPulses();
if (m != 0)
{
- tm.sec = tm.sec + m;
- if(tm.sec > 59)
+ T2 = T2 + m*0.1;
+ if(T2 > 5.0)
{
- tm.sec = 0;
+ T2 = T1 + 0.1;
}
- if(tm.sec < 0)
+ if(T2 < (T1 + 0.1))
{
- tm.sec = 59;
+ T2 = 5.0;
}
wheel.reset();
m = 0;
}
- lcd.locate(9,0);
- lcd.printf("%02d",tm.sec);
+ lcd.locate(4,0);
+ lcd.printf("%0.1f (min)",T2);
if (button_enco.falling())
{
- if(pos==0)
+ i++;
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("T3: ");
+ T3 = T2 + 0.1;
+ }
+ break;
+
+ case 2: // Establecer T3
+ m = wheel.getPulses();
+ if (m != 0)
+ {
+ T3 = T3 + m*0.1;
+ if(T3 > 5.0)
{
- rtc.setTime(tm, false, false);
- rtc.startClock();
+ T3 = T2 + 0.1;
+ }
+ if(T3 < (T2 + 0.1))
+ {
+ T3 = 5.0;
+ }
+ wheel.reset();
+ m = 0;
+ }
+ lcd.locate(4,0);
+ lcd.printf("%0.1f (min)",T3);
+
+ if (button_enco.falling())
+ {
lcd.cls();
lcd.locate(0, 0);
lcd.printf("Time Set");
wait(1);
i = 0;
Lugar = 0;
- lcd.cls();
- }
- if(pos > 0)
- {
- i++;
- lcd.cls();
- lcd.locate(0,0);
- lcd.printf("Enable: Off");
- }
- }
- break;
-
- case 7:
- m = wheel.getPulses();
- if (m != 0)
- {
- if(flag == 0)
- {
- lcd.locate(8,0);
- lcd.printf("On ");
- flag = 1; //se activa la alarma
- }
- else
- if(flag == 1)
- {
- lcd.locate(8,0);
- lcd.printf("Off");
- flag = 0; //se desactiva la alarma
- }
- wheel.reset();
- m = 0;
+ lcd.cls();
}
- if (button_enco.falling())
- {
- if(flag == 1)
- {
- state_alarms = state_alarms | pot[(pos - 1)];
- }
- if(flag == 0)
- {
- state_alarms = state_alarms & pot1[(pos - 1)];
- }
- Alarm[pos - 1] = tm;
- lcd.cls();
- lcd.locate(0,0);
- lcd.printf("Alarm %d Set", pos);
- wait(1);
- i = 0;
- Lugar = 0;
- flag = 0;
- lcd.cls();
- }
break;
}
break;
- case 2:
- Sonido.write(0.5);
- wait(0.2);
- Sonido.write(255);
- wait(0.2);
- Sonido.write(0.5);
- wait(0.2);
- Sonido.write(255);
- wait(0.2);
-
+ case 3: // Configurar salida
+
m = wheel.getPulses();
-
- if(alarma == 0) //pos_alarm
+ if(flag_pwm == 0)
{
if(m != 0)
{
- alarma = 1;
+ flag_pwm = 1;
wheel.reset();
m = 0;
lcd.locate(1,1);
lcd.printf("-");
- lcd.locate(11,1);
+ lcd.locate(8,1);
lcd.printf(">");
}
}
- if(alarma == 1)
+ if(flag_pwm == 1)
{
if(m != 0)
{
- alarma = 0;
+ flag_pwm = 0;
wheel.reset();
m = 0;
lcd.locate(1,1);
lcd.printf(">");
- lcd.locate(11,1);
+ lcd.locate(8,1);
lcd.printf("-");
}
}
if (button_enco.falling())
{
- if(alarma == 0)
- {
- wheel.reset();
- m=0;
- Sonido.write(255);
- lcd.cls();
- wait(0.5);
-
- }
- if(alarma==1)
- {
- rtc.getTime(tm);
- if(tm.min >= 55)
- {
- Alarm[pos_alarm].min = (tm.min + 5) - 60;
- Alarm[pos_alarm].hour = tm.hour + 1;
- }
- else
- {
- Alarm[pos_alarm].min = tm.min + 5;
- }
- lcd.cls();
- alarma=0;
-
- }
+ lcd.cls();
+ lcd.locate(0, 0);
+ lcd.printf("Out Set");
+ if(flag_pwm == 1){pwm_analog = 1;}
+ else{pwm_analog = 0;}
+
+ wait(1);
Lugar = 0;
+ lcd.cls();
}
+
break;
- case 3:
- lcd.locate(0,0);
- lcd.printf("Waiting IRDA");
- header = 0;
- header = irda.read_low_us(); //funcion para leer un pulso de caida o bajo
- if (header > head_L && header < head_H)//verificar que este en la tolerancia +-20%
+
+ case 4: // CICLO PRINCIPAL CONTROLADOR PID
+lop1: rtc.getTime(tm);
+ lcd.locate(0,0);
+ lcd.printf("%Y : %0.0f ", med);
+ lcd.locate(6,1);
+ lcd.printf("%02d:",tm.min);
+ lcd.printf("%02d",tm.sec);
+
+ tiempo = tm.sec + tm.min*60;
+ sec = tm.sec;
+
+ if(sec != sec_ant)
{
- //leo los datos de la trama y se meten a un arreglo
- wait_us(2000);
- for(g = 0; g<(num_bits-1); g++) // POR OSCILOSCOPIO se determina que llegan (num_bits),datos
+ sec_ant = sec;
+ if(tiempo <= (T1*60))
{
- dato = irda.read_high_us(); //leer un bit de datos que es pulso arriba en este control
- num[g]=dato;
- wait_us(332);
+ sp_temp = sp_temp + Sp/(T1*60);
}
- for(g = 0; g<num_bits; g++) // guardo la secuancia en binario
- {
- if(num[g] > ((T_alto+T_bajo)/2)){sec[g]=1;}
- else {sec[g]=0;}
- }
- for(h = 0; h < 8; h++)
+
+ if( (tiempo > (T2*60)) && (tiempo < (T3*60)) )
{
- for(g = 0; g < 32; g++)
- {
- if(sec[g]==boton[h][g]) //en caso de que un bit no coincida se descarta el boton 1
- {
- count++;
- if(count==32)
- {
- boton_sel = h - 1;
- lcd.cls();
- lcd.locate(0,0);
- lcd.printf("Alarm %d: ",(boton_sel+1));
- if(boton_sel >= 0)
- {
- if((state_alarms&(pot[boton_sel])) == pot[boton_sel])
- {
- state_alarms = state_alarms & pot1[boton_sel];
- lcd.locate(10,0);
- lcd.printf("Off");
- wait(1.5);
- lcd.cls();
- }
- else
- {
- state_alarms = state_alarms | pot[boton_sel];
- lcd.locate(10,0);
- lcd.printf("On ");
- wait(1.5);
- lcd.cls();
- }
- }
- else
- {
- Lugar = 0;
- pos = 0;
- lcd.cls();
- }
- }
- }
- }
- count = 0;
+ sp_temp = sp_temp + ((10)-Sp)/((T3*60)-(T2*60));
}
+ //if(tiempo > (T3*60))
+ //{
+ //sp_temp = 0;
+ //}
+ }
+ med = Y.read()*100.0;
+ err = (sp_temp-med); //se calcula el error
+ ap = Kp*10*err*0.01f; //se calcula la accion proporcinal
+ ai =(Ki*10*err*0.01f)+ai; //calculo de la integral del error
+ ad = Kd*10*(err-err_v)*0.01f; //calculo de la accion derivativa
+ pid = (ap+ai+ad);
+ // se verifica que pid sea positivo **************************************
+ if(pid<0)
+ {
+ pid = 0;
}
-
+
+ // se verifica que pid sea menor o igual la valor maximo *****************
+ if (pid > 100)
+ {
+ pid = 100;
+ }
+
+ //Normalizacion de la salida
+ // se actualizan las variables *******************************************
+ err_v = err;
+ U_analog = pid/100;
+ U_pwm.pulsewidth(U_analog*periodo);
+ // se envia el valor pid a puerto analogico de salida (D/A) **************
+ // se repite el ciclo
+ if (button_enco.falling())
+ {
+ lcd.cls();
+ lcd.locate(0, 0);
+ lcd.printf("PID Stop");
+ wait(1);
+ Lugar = 0;
+ lcd.cls();
+ U_analog = 0.0;
+ U_pwm.pulsewidth(0);
+ sec = 0;
+ sec_ant = 0;
+ }
+ else
+ {
+ wait_ms(300);
+ goto lop1;
+ }
+
+
+ break;
- break;
}
}
-}
+}
\ No newline at end of file