DC motor control program using TA7291P type driver and rotary encoder with A, B phase.
Dependencies: QEI mbed-rtos mbed
main.cpp
- Committer:
- kosaka
- Date:
- 2012-11-29
- Revision:
- 12:9747752435d1
- Parent:
- 11:0984c90b820b
- Child:
- 13:4116d4b6c2a5
File content as of revision 12:9747752435d1:
// DC motor control program using H-bridge driver (ex. TA7291P) and 360 resolution rotary encoder with A, B phase. // ver. 121129a by Kosaka lab. #include "mbed.h" #include "rtos.h" #include "QEI.h" #define PI 3.14159265358979 // def. of PI /*********** User setting for control parameters (begin) ***************/ //#define SIMULATION // Comment this line if not simulation #define USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0. Comment if use Vref=analog mode #define PWM_FREQ 10000.0 //[Hz], pwm freq. available if USE_PWM is defined. #define USE_CURRENT_CONTROL // Current control on. Comment if current control off. #define CONTROL_MODE 0 // 0:PID control, 1:Frequency response, 2:Step response, 3. u=Rand to identify G(s), 4) FFT identification #define DEADZONE_PLUS 1. // deadzone of plus side #define DEADZONE_MINUS -1.5 // deadzone of minus side #define GOOD_DATA // Comment this line if the length of data TMAX/TS2 > 1000 //#define R_SIN // Comment this line if r=step, not r = sin float _freq_u = 0.3; // [Hz], freq. of Frequency response, or Step response float _rmax=100./180.*PI; // [rad], max. of reference signal float _Kp4th=20; // P gain for PID from motor volt. to angle. float _Ki4th=20; // I gain for PID from motor volt. to angle. float _Kd4th=5; // D gain for PID from motor volt. to angle. float _Kp4i=10.0; // P gain for PID from motor volt. to motor current. float _Ki4i=10.0; // I gain for PID from motor volt. to motor current. float _Kd4i=0.0; // D gain for PID from motor volt. to motor current. #define iTS 0.0001 // [s], iTS, sampling time[s] of motor current i control PID using timer interrupt #define thTS 0.001 // [s], thTS>=0.001[s], sampling time[s] of motor angle th PID using rtos-timer #define TS2 0.01 // [s], TS2>=0.001[s], sampling time[s] to save data to PC using thread. But, max data length is 1000. #define TMAX 10 // [s], experiment starts from 0[s] to TMAX[s] #define UMAX 3.3 // [V], max of control input u #define UMIN -3.3 // [V], max of control input u #define IMAX 0.5 // [A], max of motor current i #define IMIN -0.5 // [A], max of motor current i #define DEADTIME 0.0001 // [s], deadtime to be set between plus volt. to/from minus // H bridge port setting #define FIN_PORT p21 // FIN (IN1) port of mbed #define RIN_PORT p22 // RIN (IN2) port of mbed #define VREF_PORT p18 // Vref port of mbed (available if USE_PWM is not defined) DigitalOut debug_p17(p17); // p17 for debug AnalogIn v_shunt_r(p19); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A] #define R_SHUNT 1.25 // [Ohm], shunt resistanse //AnalogIn VCC(p19); // *3.3 [V], Volt of VCC for motor //AnalogIn VCC2(p20); // *3.3 [V], Volt of (VCC-R i), R=2.5[Ohm]. R is for preventing too much i when deadtime is failed. #define N_ENC (24*4) // "*4": QEI::X4_ENCODING. Number of pulses in one revolution(=360 deg) of rotary encoder. QEI encoder (p29, p30, NC, N_ENC, QEI::X4_ENCODING); // QEI(PinName channelA, mbed pin for channel A input. // PinName channelB, mbed pin for channel B input. // PinName index, mbed pin for channel Z input. (index channel input Z phase th=0), (pass NC if not needed). // int pulsesPerRev, Number of pulses in one revolution(=360 deg). // Encoding encoding = X2_ENCODING, X2 is default. X2 uses interrupts on the rising and falling edges of only channel A where as // X4 uses them on both channels. // ) // void reset (void) // Reset the encoder. // int getCurrentState (void) // Read the state of the encoder. // int getPulses (void) // Read the number of pulses recorded by the encoder. // int getRevolutions (void) // Read the number of revolutions recorded by the encoder on the index channel. /*********** User setting for control parameters (end) ***************/ Serial pc(USBTX, USBRX); // Display on tera term in PC LocalFileSystem local("local"); // save data to mbed USB disk drive in PC //Semaphore semaphore1(1); // wait and release to protect memories and so on //Mutex stdio_mutex; // wait and release to protect memories and so on Ticker controller_ticker; // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer. #ifdef USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0. PwmOut FIN(FIN_PORT); // PWM for FIN, RIN=0 when forward rotation. H bridge driver PWM mode PwmOut RIN(RIN_PORT); // PWM for RIN, FIN=0 when reverse rotation. H bridge driver PWM mode #else // H bridge Vref=analog mode DigitalOut FIN(FIN_PORT);// FIN for DC motor H bridge driver. FIN=1, RIN=0 then forward rotation DigitalOut RIN(RIN_PORT);// RIN for DC motor H bridge driver. FIN=0, RIN=1 then reverse rotation #endif AnalogOut analog_out(VREF_PORT);// Vref for DC motor H bridge driver. DA converter for control input [0.0-1.0]% in the output range of 0.0 to 3.3[V] unsigned long _count; // sampling number float _time; // time[s] float _r; // reference signal float _th=0; // [rad], motor angle, control output of angle controller float _i=0; // [A], motor current, control output of current controller float _e=0; // e=r-y for PID controller float _eI=0; // integral of e for PID controller float _iref; // reference current iref [A], output of angle th_contorller float _u; // control input[V], motor input volt. float _ei=0; // e=r-y for current PID controller float _eiI=0; // integral of e for current PID controller unsigned char _f_u_plus=1;// sign(u) unsigned char _f_umax=0;// flag showing u is max or not unsigned char _f_imax=0;// flag showing i is max or not float debug[10]; // for debug float disp[10]; // for printf to avoid interrupted by quicker process #ifdef GOOD_DATA float data[1000][5]; // memory to save data offline instead of "online fprintf". unsigned int count3; // unsigned int count2=(int)(TS2/iTS); // #endif extern "C" void mbed_reset(); void u2Hbridge(float u){// input u to H bridge driver float duty; unsigned int f_deadtime, f_in, r_in; if( u > 0 ){ // forward: rotate to plus u += DEADZONE_PLUS; // deadzone compensation duty = u/3.3; // Vref if(_f_u_plus==0){ // if plus to/from minus, set FIN=RIN=0/1 for deadtime 100[us]. f_deadtime = 1; // deadtime is required _f_u_plus=1; }else{ f_deadtime = 0; // deadtime is required } f_in=1; r_in=0; // set forward direction }else if( u < 0 ){ // reverse: rotate to minus u += DEADZONE_MINUS;// deadzone compensation duty = -u/3.3; if(_f_u_plus==1){ // if plus to/from minus, set FIN=RIN=0/1 for deadtime 100[us]. f_deadtime = 1; // deadtime is required _f_u_plus=0; }else{ f_deadtime = 0; // deadtime is required } f_in=0; r_in=1; // set reverse direction }else{// if( u == 0 ){ // stop mode duty = 0; f_deadtime = 0; // deadtime is required f_in=0; r_in=0; // set FIN & RIN } if( f_deadtime==1 ){// making deadtime FIN=0; RIN=0; // set upper&lower arm zero wait(DEADTIME); } #ifdef USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0 FIN = duty*(float)f_in; RIN = duty*(float)r_in; // setting pwm FIN & RIN analog_out = 1; // setting Vref=UMAX, but Vref=Vcc is better. #else // Analog mode: Vref=analog, FIN, RIN = 1 or 0) FIN = f_in; RIN = r_in; // setting FIN & RIN analog_out = duty; // setting Vref : PID write DA, range is 0-1. Output voltage 0-3.3v #endif } void th_controller(void const *argument) { // if rtos. current controller & velocity controller float e_old, wt; float y, u; // y_old = _th; // y_old=y(t-TS) is older than y by 1 sampling time TS[s]. update data #ifdef SIMULATION y = _th + thTS/0.1*(0.2*_iref*100-_th); //=(1-TS/0.1)*_y + 0.2*TS/0.1*_iref; // G = 0.2/(0.1s+1) #else // semaphore1.wait(); // y = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder // semaphore1.release(); // #endif #define RMIN 0 wt = _freq_u *2.0*PI*_time; if(wt>2.0*PI){ wt -= 2.0*PI*(float)((int)(wt/(2.0*PI)));} _r = sin(wt ) * (_rmax-RMIN)/2.0 + (_rmax+RMIN)/2.0; //debug[0] =1; #ifndef R_SIN if( _r>=(_rmax+RMIN)/2.0 ) _r = _rmax; else _r = 0; #endif e_old = _e; // e_old=e(t-TS) is older than e by 1 sampling time TS[s]. update data _e = _r - y; // error e(t) if( _e<((360.0/N_ENC)/180*PI) && _e>-((360.0/N_ENC)/180*PI) ){ // e is inside minimum precision? _e = 0; } if( _f_imax==0 ){ // u is saturated? // if( _e>((360.0/N_ENC)/180*PI) || _e<-((360.0/N_ENC)/180*PI) ){ // e is inside minimum precision? _eI = _eI + thTS*_e; // integral of e(t) // } } u = _Kp4th*_e + _Kd4th*(_e-e_old)/thTS + _Ki4th*_eI; // PID output u(t) #if CONTROL_MODE==1||CONTROL_MODE==2 // frequency response, or Step response wt = _freq_u *2.0*PI*_time; if(wt>2*PI) wt -= 2*PI*(float)((int)(wt/2.0*PI)); u = sin(wt ) * (UMAX-UMIN)/2.0 + (UMAX+UMIN)/2.0; #endif #if CONTROL_MODE==2 // Step response if( u>=0 ) u = UMAX; else u = UMIN; #endif #if CONTROL_MODE==3 // u=rand() to identify motor transfer function G(s) from V to angle if(count2==(int)(TS2/iTS)){ u = ((float)rand()/RAND_MAX*2.0-1.0) * (UMAX-1.5)/2.0 + (UMAX+1.5)/2.0; }else{ u = _iref; } #endif #if CONTROL_MODE==4 // FFT identification, u=repetive signal if(count2==(int)(TS2/thTS)){ u = data[count3][4]; }else{ u = _iref; } #endif // u is saturated? for anti-windup if( u>IMAX ){ _eI -= (u-IMAX)/_Ki4th; if(_eI<0){ _eI=0;} u = IMAX; // _f_imax = 1; } else if( u<IMIN ){ _eI -= (u-IMIN)/_Ki4th; if(_eI>0){ _eI=0;} u = IMIN; // _f_imax = 1; }else{ _f_imax = 0; } //-------- update data _th = y; _iref = u; } void i_controller() { // if ticker. current controller & velocity controller void u2Hbridge(float); // input u to H bridge (full bridge) driver #ifdef USE_CURRENT_CONTROL float e_old; float y, u; // _iref=_r*180/PI; // step response from v to i, useful to tune PID gains. debug_p17 = 1; // for debug: processing time check // if(debug_p17 == 1) debug_p17=0;else debug_p17=1; // for debug: sampling time check _count+=1; // current PID controller y = v_shunt_r/R_SHUNT; // get i [A] from shunt resistance if(_f_u_plus==0){ y=-y;} e_old = _ei; // e_old=e(t-TS) is older than e by 1 sampling time TS[s]. update data _ei = _iref - y; // error e(t) if( _f_umax==0 ){ _eiI = _eiI + iTS*_ei; // integral of e(t) } u = _Kp4i*_e + _Kd4i*(_ei-e_old)/iTS + _Ki4i*_eiI; // PID output u(t) // u is saturated? for anti-windup if( u>UMAX ){ _eiI -= (u-UMAX)/_Ki4i; if(_eiI<0){ _eiI=0;} u = UMAX; // _f_umax = 1; } else if( u<UMIN ){ _eiI -= (u-UMIN)/_Ki4i; if(_eiI>0){ _eiI=0;} u = UMIN; // _f_umax = 1; }else{ _f_umax = 0; } //-------- update data _i = y; _u = u; #else _u = _iref/IMAX*VMAX; // without current control. #endif u2Hbridge(_u); // input u to TA7291 driver //-------- update data _time += iTS; // time debug[0]=v_shunt_r; if(_f_u_plus==0){ debug[0]=-debug[0];} #ifdef GOOD_DATA if(count2==(int)(TS2/iTS)){ // j=0; if(_count>=j&&_count<j+1000){i=_count-j; data[i][0]=_r; data[i][1]=debug[0]; data[i][2]=_th; data[i][3]=_time; data[i][4]=_u;} if( count3<1000 ){ data[count3][0]=_r; data[count3][1]=debug[0]; data[count3][2]=_th; data[count3][3]=_time; data[count3][4]=_u; // data[count3][0]=_iref; data[count3][1]=debug[0]; data[count3][2]=_i; data[count3][3]=_time; data[count3][4]=_u; count3++; } count2 = 0; } count2++; #endif //-------- update data debug_p17 = 0; // for debug: processing time check } void main1() { RtosTimer timer_controller(th_controller); FILE *fp; // save data to PC #ifdef GOOD_DATA int i; count3=0; #endif u2Hbridge(0); // initialize H bridge to stop mode _count=0; _time = 0; // time _eI = _eiI = 0; // reset integrater encoder.reset(); // set encoder counter zero _th = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder _r = _r + _th; // if( _r>2*PI ) _r -= _r-2*PI; pc.printf("Control start!!\r\n"); if ( NULL == (fp = fopen( "/local/data.csv", "w" )) ){ error( "" );} // save data to PC #ifdef USE_PWM FIN.period( 1.0 / PWM_FREQ ); // PWM period [s]. Common to all PWM #endif controller_ticker.attach(&i_controller, iTS ); // Sampling period[s] of i_controller timer_controller.start((unsigned int)(thTS*1000.)); // Sampling period[ms] of th controller // for ( i = 0; i < (unsigned int)(TMAX/iTS2); i++ ) { while ( _time <= TMAX ) { // BUG!! Dangerous if TS2<0.1 because multi interrupt by fprintf is not prohibited! 1st aug of fprintf will be destroyed. // fprintf returns before process completed. //BUG fprintf( fp, "%8.2f, %8.4f,\t%8.1f,\t%8.2f\r\n", disp[3], disp[1], disp[0], tmp); // save data to PC (para, y, time, u) //OK? fprintf( fp, "%f, %f, %f, %f, %f\r\n", _time, debug[0], debug[3], (_y/(2*PI)*360.0),_u); // save data to PC (para, y, time, u) #ifndef GOOD_DATA fprintf( fp, "%f, %f, %f, %f, %f\r\n", _r, debug[0], _th, _time, _u); // save data to PC (para, y, time, u) #endif Thread::wait((unsigned int)(TS2*1000.)); //[ms] } controller_ticker.detach(); // timer interrupt stop timer_controller.stop(); // rtos timer stop u2Hbridge(0); // initialize H bridge to stop mode _eI = _eiI = 0; // reset integrater #ifdef GOOD_DATA for(i=0;i<1000;i++){ fprintf( fp, "%f, %f, %f, %f, %f\r\n", data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]);} // save data to PC (para, y, time, u) #endif fclose( fp ); // release mbed USB drive pc.printf("Control completed!!\r\n\r\n"); } void thread_print2PC(void const *argument) { while (true) { pc.printf("%8.1f[s]\t%8.5f[V]\t%4d [deg]\t%8.2f\r\n", _time, _u, (int)(_th/(2*PI)*360.0), _r);//debug[0]*3.3/R_SHUNT); // print to tera term Thread::wait(200); } } void main2(void const *argument) { #if CONTROL_MODE==0 // PID control char f; float val; #endif #if CONTROL_MODE==4 // FFT identification, u=repetive signal int i, j; float max_u; #endif while(true){ #if CONTROL_MODE==4 // FFT identification, u=repetive signal max_u = 0; for( i=0;i<1000;i++ ){ // u=data[i][4]: memory for FFT identification input signal. data[i][4] = sin(_freq_u*2*PI * i*TS2); // _u_freq = 10/2 * i [Hz] if( data[i][4]>max_u ){ max_u=data[i][4];} } for( j=1;j<50;j++ ){ for( i=0;i<1000;i++ ){ data[i][4] += sin((float)(j+1)*_freq_u*2*PI * i*TS2); if( data[i][4]>max_u ){ max_u=data[i][4];} } } for( i=0;i<1000;i++ ){ // data[i][4] *= UMAX/max_u; data[i][4] = (data[i][4]/max_u+3)/4*UMAX; } #endif main1(); #if CONTROL_MODE>=1 // frequency response, or Step response pc.printf("Input u(t) Frequency[Hz]? (if 9, reset mbed)..."); pc.scanf("%f",&_freq_u); pc.printf("%8.3f[Hz]\r\n", _freq_u); // print to tera term if(_freq_u==9){ mbed_reset();} #else // PID control // #ifdef R_SIN // pc.printf("Reference signal r(t) Frequency[Hz]?..."); // pc.scanf("%f",&_freq_u); // pc.printf("%8.3f[Hz]\r\n", _freq_u); // print to tera term // #endif pc.printf("th-loop: Kp=%f, Ki=%f, Kd=%f, r=%f[deg], %f Hz\r\n",_Kp4th, _Ki4th, _Kd4th, _rmax*180./PI, _freq_u); pc.printf(" i-loop: Kp=%f, Ki=%f, Kd=%f\r\n",_Kp4i, _Ki4i, _Kd4i); pc.printf("Which number do you like to change?\r\n ... 0)no change, 1)Kp, 2)Ki, 3)Kd, 4)r(t) freq.[Hz], 5)r(t) amp.[deg].\r\n 6)iKp, 7)iKi, 8)iKd, 9)reset mbed ?"); f=pc.getc()-48; //int = char-48 pc.printf("\r\n Value?... "); if(f>=1&&f<=8){ pc.scanf("%f",&val);} pc.printf("%8.3f\r\n", val); // print to tera term if(f==1){ _Kp4th = val;} if(f==2){ _Ki4th = val;} if(f==3){ _Kd4th = val;} if(f==4){ _freq_u = val;} if(f==5){ _rmax = val/180.*PI;} if(f==6){ _Kp4i = val;} if(f==7){ _Ki4i = val;} if(f==8){ _Kd4i = val;} if(f==9){ mbed_reset();} pc.printf("th-loop: Kp=%f, Ki=%f, Kd=%f, r=%f[deg], %f Hz\r\n",_Kp4th, _Ki4th, _Kd4th, _rmax*180./PI, _freq_u); pc.printf(" i-loop: Kp=%f, Ki=%f, Kd=%f\r\n",_Kp4i, _Ki4i, _Kd4i); #endif } } int main() { // void main1(); Thread save2PC(main2,NULL,osPriorityBelowNormal); Thread print2PC(thread_print2PC,NULL,osPriorityLow); // osStatus set_priority(osPriority osPriorityBelowNormal ); // Priority of Thread (RtosTimer has no priority?) // osPriorityIdle = -3, ///< priority: idle (lowest)--> then, mbed ERROR!! // osPriorityLow = -2, ///< priority: low // osPriorityBelowNormal = -1, ///< priority: below normal // osPriorityNormal = 0, ///< priority: normal (default) // osPriorityAboveNormal = +1, ///< priority: above normal // osPriorityHigh = +2, ///< priority: high // osPriorityRealtime = +3, ///< priority: realtime (highest) // osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority }