Revision 6:16bee943a9fa, committed 2012-11-17

Comitter:

kosaka

Date:

Sat Nov 17 03:14:59 2012 +0000

Parent:

5:2e53814aae4c

Child:

7:613febb8f028

Commit message:

if CONTROL_MODE=3, u=Rand to identify G(s)

Changed in this revision

--- a/main.cpp	Sat Nov 17 00:07:04 2012 +0000
+++ b/main.cpp	Sat Nov 17 03:14:59 2012 +0000
@@ -1,5 +1,5 @@
 //  DC motor control program using H-bridge driver (ex. TA7291P) and 360 resolution rotary encoder with A, B phase.
-//      ver. 121116a by Kosaka lab.
+//      ver. 121117a by Kosaka lab.
 #include "mbed.h"
 #include "rtos.h"
 #include "QEI.h"
@@ -7,9 +7,9 @@
 /*********** 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 CONTROL_MODE    0   // 0:PID control, 1:Frequency response, 2:Step response
+#define CONTROL_MODE    3   // 0:PID control, 1:Frequency response, 2:Step response, 3. u=Rand to identify G(s)
 #define GOOD_DATA           // Comment this line if the length of data TMAX/TS2 > 1000
-//#define R_SIN               // Comment this line if not r = sin
+//#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   _Kp=20;             // P gain for PID ... Kp=1, Ki=0, Kd=0 is good.
@@ -174,7 +174,7 @@
         _f_umax = 0;
     }
 //#define CONTROL_MODE   2   // 0:PID control, 1:Frequency response, 2:Step response
-#if CONTROL_MODE>=1   // frequency response, or Step response
+#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;
@@ -183,6 +183,13 @@
     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/TS)){
+        u = ((float)rand()/RAND_MAX*2.0-1.0) * (UMAX-1.5)/2.0 + (UMAX+1.5)/2.0;
+    }else{
+        u = _u;
+    }
+#endif
 //debug[0]=u;//minus
     u2Hbridge(u);    // input u to TA7291 driver