Marta Avramovic
Flow measurement
Dependencies: mbed PID FastPWM
Revision 0:638eb51d9082, committed 2020-05-04
- Comitter:
- renemagrit
- Date:
- Mon May 04 14:38:12 2020 +0000
- Commit message:
- PID controller for flow measurement system using pressure sensor.
Changed in this revision
diff -r 000000000000 -r 638eb51d9082 AsynchSerial.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AsynchSerial.lib Mon May 04 14:38:12 2020 +0000 @@ -0,0 +1,1 @@ +https://github.com/pilotak/AsynchSerial/#4d2d40d1ce04bd2492111cc6ad09c86b53ef7410
diff -r 000000000000 -r 638eb51d9082 FastPWM.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FastPWM.lib Mon May 04 14:38:12 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/benkatz/code/FastPWM/#f1eef5be0b5d
diff -r 000000000000 -r 638eb51d9082 PID.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.lib Mon May 04 14:38:12 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/PID/#6e12a3e5af19
diff -r 000000000000 -r 638eb51d9082 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon May 04 14:38:12 2020 +0000
@@ -0,0 +1,167 @@
+/*
+ * Date: march 2020.
+ * Decription: Bilo je potrebno napraviti sistem PID regulatora ciji je osnovni
+ zadatak odrzavanja pritiska vrednosti 0 Bara.
+ Sistem se sastoji iz:
+ 1.Senzora pritiska
+ 2.Step motora koji pogoni elektricnu pumpu
+ Izlaz PID regulatira je frekvencija obrtanja step motora koji tera pumpu.
+ Sto se motor brze okrece to pumpa vise kolicine izvlaci.
+ Na ovaj nacin obezbedjeno je precizno protocno merenje kolicine u ispitivanju
+ injekotra.
+ Sistem tokom celokupnog rada zeli da stabilise pritisak od 0 Bari i time
+ ponisti razliku pritisaka koja se javlja usled odredjene kolicine goriva u
+ sistemu.
+
+ - Dugorocnim testiranjem utvrdjeni su parametri PID kontrolera.
+ - Senzor pritiska se filtira sa MID7 filterom
+ - Izmerena kolicina se filtrira sa MID7 filterom
+ - PID procesuira zahteve svakih 100ms
+*/
+#include "mbed.h"
+#include "AsynchSerial.h"
+#include "PID.h"
+#include "FastPWM.h"
+
+#define RATE 0.1
+#define ZERO 2.33
+AsynchSerial pc(USBTX, USBRX, 115200);
+
+EventQueue queue;
+Ticker tick;
+
+//Kc, Ti, Td, interval
+PID controller(2.5, 1, 0.0, RATE);
+AnalogIn pv(PA_0);
+FastPWM co(PA_1,2);
+
+//mm u opsegu od 0 do 100
+
+float reff;
+float value;
+float inValue;
+
+float analogInValues[7];
+float freqValues[7];
+volatile int cntFreq = 0;
+int n = 7;
+int enable = 0;
+int width = 0;
+
+void getData() {
+/*Citanje podatka iz Buffera Serijske komunikacije -uz resnje GRESKE citanja*/
+
+ unsigned char buffer[20];
+ int16_t len = pc.read(buffer, sizeof(buffer));
+
+ if (len > 0) {
+
+ int kom = sscanf((const char *)buffer,"%f",&reff);
+
+ if(kom==1){
+ if(reff > 100.0){
+ controller.setSetPoint(0);
+ printf("Greska! Referenca veca od 100 mm");
+ }else
+ controller.setSetPoint(reff);
+ }
+ }
+}
+
+void rxCb() {
+
+ queue.call(getData); // can't read data in callback
+
+}
+void printuj(void){
+ freqValues[cntFreq++] = value/2.0;
+ if(cntFreq == 7){
+ cntFreq = 0;
+ for (int i = 0; i < n; i++)
+ // Last i elements are already in place
+ for (int j = 0; j < n-i-1; j++)
+ if (freqValues[j] > freqValues[j+1]){
+ float temp = freqValues[j];
+ freqValues[j]=freqValues[j+1];
+ freqValues[j+1]=temp;
+ }
+
+ printf("Ref: %.1f \n",reff);
+ printf("Input Analog High: %.1f mm \n", inValue);
+ printf("F: %.1f Hz\n",freqValues[4]);
+ printf("Q: %.1f ml\n",freqValues[4]*0.045);
+
+ }
+}
+void setData(void){
+
+ queue.call(printuj);
+
+}
+
+int main(){
+
+ Thread eventThread;
+ eventThread.start(callback(&queue, &EventQueue::dispatch_forever));
+ pc.attach(callback(rxCb), AsynchSerial::RX);
+ pc.init(); //Serial buffer interrupt
+ tick.attach(&setData, 0.3);
+
+ //Set the period to 1ms = 1kHz
+ co.pulsewidth_ms(0);
+ co.prescaler(2);
+
+ controller.setInputLimits(-100.0, 100.0);
+ //Pwm output from 0.0 to 1.0
+ controller.setOutputLimits(4, 3200);
+ //If there's a bias.
+ controller.setBias(0);
+ controller.setMode(1); //not null value is AUTO MODE
+ //We want the process variable to be 1.7V
+ controller.setSetPoint(0.0);
+
+ while(1){
+
+ for(int i=0;i<n;i++){
+ analogInValues[i] = pv.read();
+ wait_ms(10);
+ }
+ // sort . . .
+ for (int i = 0; i < n; i++)
+ // Last i elements are already in place
+ for (int j = 0; j < n-i-1; j++)
+ if (analogInValues[j] > analogInValues[j+1]){
+ float temp = analogInValues[j];
+ analogInValues[j]=analogInValues[j+1];
+ analogInValues[j+1]=temp;
+ }
+
+ //Update the process variable.
+ //input u mm
+ inValue = (float)(((ZERO - analogInValues[4] * (float)3.29) * 100.0)/1.59)*(-1.0);
+ //inValue = (float)(((ZERO - pv.read() * (float)3.29) * 100.0)/1.59);
+ controller.setProcessValue(inValue);
+
+ //Set the new output.
+ value = controller.compute();
+
+ if(value == 0){
+ enable = 0;
+ printf("Greska! Value = 0");
+ }else{
+ int period = (int)(1.0/value * 1000000);
+ co.period_us(period);
+ enable = 1;
+ }
+ if(enable == 1){
+ if(value > 100)
+ co.pulsewidth_us(25);
+ else
+ co.pulsewidth_ms(2);
+ }else{
+ co.pulsewidth_us(0);
+ }
+ wait_ms(100 - 10*n);
+
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 638eb51d9082 mbed-os.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Mon May 04 14:38:12 2020 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#59535b83926abb05d35f8c9b8bfbffc8a8ec25c2
diff -r 000000000000 -r 638eb51d9082 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon May 04 14:38:12 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file