Sebastián Camilo Castaño / Mbed 2 deprecated Tarea4_HornoDeReflujo

Controlador PID

Dependencies:   Debounced Pulse1 QEI RTC-DS1307 TextLCD_1 mbed

Fork of grafica_PID_android by Nicolás Villegas Echavarría

/media/uploads/seccastanova/whatsapp_image_2018-06-05_at_10.25.03_am.jpeg

main.cpp@3:2e823b16a4a1, 2017-05-13 (annotated)

Committer:
NicolasV
Date:
Sat May 13 20:36:07 2017 +0000
Revision:
3:2e823b16a4a1
Parent:
2:00db719ebd81
Child:
4:82ac4b34c3d9
Se realiza un controlador PID para controlar el voltaje sobre un condensador. Se transmite el set-point y la salida por medio de Bluetooth a una aplicaci?n de Android en donde se hace la gr?fica de estas se?ales.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NicolasV 2:00db719ebd81 1 /*
NicolasV 2:00db719ebd81 2 * Código por: Laura Álvila
NicolasV 2:00db719ebd81 3 * Daniela López
NicolasV 2:00db719ebd81 4 * Nicolás Villegas
NicolasV 2:00db719ebd81 5 */
NicolasV 2:00db719ebd81 6
tony63 0:4e0dfcf0e7ce 7 #include "mbed.h"
tony63 0:4e0dfcf0e7ce 8 #include "QEI.h"
tony63 0:4e0dfcf0e7ce 9 #include "TextLCD.h"
tony63 0:4e0dfcf0e7ce 10
NicolasV 2:00db719ebd81 11 Serial GSM(PTE0,PTE1); // Módulo Bluetooh
tony63 0:4e0dfcf0e7ce 12 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5); // rs, e, d4-d7
NicolasV 3:2e823b16a4a1 13 QEI encoder (PTA13, PTD5, NC, 10);
NicolasV 3:2e823b16a4a1 14 Timer t;
NicolasV 2:00db719ebd81 15
NicolasV 2:00db719ebd81 16 AnalogIn y(PTC2); // Entrada análoga: Salida del sistema
NicolasV 2:00db719ebd81 17 AnalogOut u(PTE30); // Salida análoga: Señal de control
NicolasV 2:00db719ebd81 18
tony63 0:4e0dfcf0e7ce 19 DigitalOut led1(LED1);
tony63 0:4e0dfcf0e7ce 20 DigitalOut led2(LED2);
tony63 0:4e0dfcf0e7ce 21 DigitalOut led3(LED3);
tony63 0:4e0dfcf0e7ce 22
NicolasV 2:00db719ebd81 23 DigitalIn button3(PTC16); // Botón del encoder
NicolasV 2:00db719ebd81 24 DigitalIn button4(PTC17); // Pulsador
tony63 0:4e0dfcf0e7ce 25
NicolasV 2:00db719ebd81 26 // Códigos movimiento del cursor:
NicolasV 2:00db719ebd81 27 int C1=0x0F;
tony63 0:4e0dfcf0e7ce 28 int C2=0x18; // desplaza izquierda
tony63 0:4e0dfcf0e7ce 29 int C3=0x1A; // desplaza derecha
tony63 0:4e0dfcf0e7ce 30 int C4=0x0C; // quito cursor bajo
tony63 0:4e0dfcf0e7ce 31
NicolasV 2:00db719ebd81 32 int cambio = 0, diferencia = 0;
NicolasV 3:2e823b16a4a1 33 float pid, o, ai, ad, ap, med, err, setpoint;
tony63 1:058b8f5c135d 34 float err_v;
NicolasV 2:00db719ebd81 35 int spnum = 0, kinum = 0, kpnum = 0 ,kdnum = 0, pos = 1;
NicolasV 2:00db719ebd81 36 int j,k;
NicolasV 3:2e823b16a4a1 37 long t_pid = 0, t_btn = 0;
tony63 0:4e0dfcf0e7ce 38
NicolasV 2:00db719ebd81 39 int main() {
NicolasV 3:2e823b16a4a1 40
NicolasV 2:00db719ebd81 41 // Se asigna baudrate y se configura el puerto serie de la USART
NicolasV 3:2e823b16a4a1 42
NicolasV 2:00db719ebd81 43 GSM.baud(9600);
NicolasV 2:00db719ebd81 44 GSM.format(8,Serial::None,1);
NicolasV 3:2e823b16a4a1 45 t.start();
NicolasV 3:2e823b16a4a1 46
NicolasV 3:2e823b16a4a1 47 for (int i = 3; i < 24; ++i) {
NicolasV 3:2e823b16a4a1 48 lcd.cls();
NicolasV 3:2e823b16a4a1 49 lcd.locate(0,0);
NicolasV 3:2e823b16a4a1 50 lcd.printf("**Control PID**");
NicolasV 3:2e823b16a4a1 51 wait_ms(1000/i);
NicolasV 3:2e823b16a4a1 52
NicolasV 3:2e823b16a4a1 53 ++i;
NicolasV 3:2e823b16a4a1 54 lcd.cls();
NicolasV 3:2e823b16a4a1 55 lcd.locate(1,0);
NicolasV 3:2e823b16a4a1 56 lcd.printf("**Control PID**");
NicolasV 3:2e823b16a4a1 57 wait_ms(1000/i);
NicolasV 3:2e823b16a4a1 58
NicolasV 3:2e823b16a4a1 59 ++i;
NicolasV 3:2e823b16a4a1 60 lcd.cls();
NicolasV 3:2e823b16a4a1 61 lcd.locate(1,1);
NicolasV 3:2e823b16a4a1 62 lcd.printf("**Control PID**");
NicolasV 3:2e823b16a4a1 63 wait_ms(1000/i);
NicolasV 3:2e823b16a4a1 64
NicolasV 3:2e823b16a4a1 65 ++i;
NicolasV 3:2e823b16a4a1 66 lcd.cls();
NicolasV 3:2e823b16a4a1 67 lcd.locate(0,1);
NicolasV 3:2e823b16a4a1 68 lcd.printf("**Control PID**");
NicolasV 3:2e823b16a4a1 69 wait_ms(1000/i);
NicolasV 3:2e823b16a4a1 70 }
NicolasV 3:2e823b16a4a1 71
NicolasV 3:2e823b16a4a1 72 init:
NicolasV 3:2e823b16a4a1 73
NicolasV 3:2e823b16a4a1 74 lcd.cls();
NicolasV 3:2e823b16a4a1 75 lcd.writeCommand(C1);
NicolasV 3:2e823b16a4a1 76
NicolasV 3:2e823b16a4a1 77 lcd.locate(8,0);
NicolasV 3:2e823b16a4a1 78 lcd.printf("Ki=%d", kinum);
NicolasV 2:00db719ebd81 79
tony63 0:4e0dfcf0e7ce 80 lcd.locate(0,1);
NicolasV 3:2e823b16a4a1 81 lcd.printf("Kd=%d", kdnum);
NicolasV 2:00db719ebd81 82
NicolasV 3:2e823b16a4a1 83 lcd.locate(8,1);
NicolasV 3:2e823b16a4a1 84 lcd.printf("**PID**");
NicolasV 3:2e823b16a4a1 85
NicolasV 3:2e823b16a4a1 86 lcd.locate(0,0);
NicolasV 2:00db719ebd81 87 lcd.printf("Kp=%d", kpnum);
NicolasV 3:2e823b16a4a1 88
NicolasV 3:2e823b16a4a1 89 bool state = 1;
NicolasV 3:2e823b16a4a1 90
NicolasV 2:00db719ebd81 91 while(true) {
tony63 0:4e0dfcf0e7ce 92
NicolasV 3:2e823b16a4a1 93 diferencia=(encoder.getPulses() - cambio)*3;
tony63 0:4e0dfcf0e7ce 94 cambio=encoder.getPulses();
NicolasV 2:00db719ebd81 95
NicolasV 3:2e823b16a4a1 96 if (diferencia != 0 && state) {
NicolasV 2:00db719ebd81 97 switch (pos) {
NicolasV 2:00db719ebd81 98 case 1:
NicolasV 2:00db719ebd81 99 kpnum += diferencia;
NicolasV 2:00db719ebd81 100
NicolasV 2:00db719ebd81 101 if (kpnum >= 999)
NicolasV 2:00db719ebd81 102 kpnum = 999;
NicolasV 2:00db719ebd81 103 else if (kpnum < 0)
NicolasV 2:00db719ebd81 104 kpnum = 0;
NicolasV 3:2e823b16a4a1 105
NicolasV 3:2e823b16a4a1 106 lcd.locate(3,0);
tony63 0:4e0dfcf0e7ce 107 lcd.printf(" ");
NicolasV 3:2e823b16a4a1 108 lcd.locate(3,0);
tony63 0:4e0dfcf0e7ce 109 lcd.printf("%d", kpnum);
NicolasV 2:00db719ebd81 110 break;
NicolasV 3:2e823b16a4a1 111 case 2:
NicolasV 2:00db719ebd81 112 kinum += diferencia;
NicolasV 2:00db719ebd81 113
NicolasV 2:00db719ebd81 114 if (kinum >= 999)
NicolasV 2:00db719ebd81 115 kinum = 999;
NicolasV 2:00db719ebd81 116 else if (kinum < 0)
NicolasV 2:00db719ebd81 117 kinum = 0;
NicolasV 2:00db719ebd81 118
NicolasV 3:2e823b16a4a1 119 lcd.locate(11,0);
tony63 0:4e0dfcf0e7ce 120 lcd.printf(" ");
NicolasV 3:2e823b16a4a1 121 lcd.locate(11,0);
tony63 0:4e0dfcf0e7ce 122 lcd.printf("%d", kinum);
NicolasV 2:00db719ebd81 123 break;
NicolasV 3:2e823b16a4a1 124 case 3:
NicolasV 2:00db719ebd81 125 kdnum += diferencia;
NicolasV 2:00db719ebd81 126
NicolasV 2:00db719ebd81 127 if (kdnum >= 999)
NicolasV 2:00db719ebd81 128 kdnum = 999;
NicolasV 2:00db719ebd81 129 else if (kdnum < 0)
NicolasV 2:00db719ebd81 130 kdnum = 0;
NicolasV 2:00db719ebd81 131
NicolasV 3:2e823b16a4a1 132 lcd.locate(3,1);
tony63 0:4e0dfcf0e7ce 133 lcd.printf(" ");
NicolasV 3:2e823b16a4a1 134 lcd.locate(3,1);
tony63 0:4e0dfcf0e7ce 135 lcd.printf("%d", kdnum);
NicolasV 2:00db719ebd81 136 break;
NicolasV 3:2e823b16a4a1 137 }
NicolasV 3:2e823b16a4a1 138 }
NicolasV 3:2e823b16a4a1 139
NicolasV 3:2e823b16a4a1 140 if (diferencia != 0 && !state) {
NicolasV 3:2e823b16a4a1 141
NicolasV 3:2e823b16a4a1 142 spnum += diferencia;
NicolasV 3:2e823b16a4a1 143
NicolasV 3:2e823b16a4a1 144 if (spnum >= 999) spnum = 999;
NicolasV 3:2e823b16a4a1 145 else if (spnum < 0) spnum = 0;
NicolasV 3:2e823b16a4a1 146
NicolasV 3:2e823b16a4a1 147 lcd.locate(10,0);
NicolasV 3:2e823b16a4a1 148 lcd.printf(" ");
NicolasV 3:2e823b16a4a1 149 lcd.locate(10,0);
NicolasV 3:2e823b16a4a1 150 lcd.printf("%d", spnum);
NicolasV 3:2e823b16a4a1 151 }
NicolasV 3:2e823b16a4a1 152
NicolasV 2:00db719ebd81 153
NicolasV 2:00db719ebd81 154 if (!button3) { // Cambia la posición de ingreso de parámetros
NicolasV 2:00db719ebd81 155 led3 = !led3;
NicolasV 2:00db719ebd81 156 switch(pos++) {
NicolasV 3:2e823b16a4a1 157 case 3:
NicolasV 2:00db719ebd81 158 pos = 1;
tony63 0:4e0dfcf0e7ce 159 lcd.locate(3,0);
NicolasV 3:2e823b16a4a1 160 lcd.printf("%d", kpnum);
NicolasV 2:00db719ebd81 161 break;
NicolasV 2:00db719ebd81 162 case 1:
tony63 0:4e0dfcf0e7ce 163 lcd.locate(11,0);
NicolasV 3:2e823b16a4a1 164 lcd.printf("%d", kinum);
NicolasV 2:00db719ebd81 165 break;
NicolasV 2:00db719ebd81 166 case 2:
tony63 0:4e0dfcf0e7ce 167 lcd.locate(3,1);
tony63 0:4e0dfcf0e7ce 168 lcd.printf("%d", kdnum);
NicolasV 2:00db719ebd81 169 break;
NicolasV 3:2e823b16a4a1 170 }
NicolasV 3:2e823b16a4a1 171 wait(0.2);
NicolasV 3:2e823b16a4a1 172 }
tony63 0:4e0dfcf0e7ce 173
NicolasV 3:2e823b16a4a1 174 if (!button4 && state) {
NicolasV 3:2e823b16a4a1 175 lcd.cls();
NicolasV 3:2e823b16a4a1 176 lcd.locate(8,1);
NicolasV 3:2e823b16a4a1 177 lcd.printf("**PID**");
NicolasV 3:2e823b16a4a1 178 lcd.locate(0,0);
NicolasV 3:2e823b16a4a1 179 lcd.printf("Set-Point=");
NicolasV 3:2e823b16a4a1 180 lcd.locate(10,0);
NicolasV 3:2e823b16a4a1 181 lcd.printf("%d", spnum);
NicolasV 3:2e823b16a4a1 182 wait(0.2);
NicolasV 3:2e823b16a4a1 183 state = 0;
NicolasV 3:2e823b16a4a1 184 }
NicolasV 3:2e823b16a4a1 185 else if (!button4 && !state) {
NicolasV 3:2e823b16a4a1 186 wait(0.2);
NicolasV 3:2e823b16a4a1 187 break;
tony63 0:4e0dfcf0e7ce 188 }
tony63 0:4e0dfcf0e7ce 189 wait(0.1);
tony63 0:4e0dfcf0e7ce 190 }
NicolasV 3:2e823b16a4a1 191
tony63 0:4e0dfcf0e7ce 192
NicolasV 3:2e823b16a4a1 193 // Transición
NicolasV 2:00db719ebd81 194 lcd.writeCommand(C4); // Escribimos un comando segun el manual del módulo LCD para quitar cursor bajo
tony63 0:4e0dfcf0e7ce 195 lcd.cls();
NicolasV 3:2e823b16a4a1 196 lcd.locate(0,0); lcd.printf("y=");
NicolasV 3:2e823b16a4a1 197 lcd.locate(8,0); lcd.printf("e=");
NicolasV 3:2e823b16a4a1 198 lcd.locate(0,1); lcd.printf("r=");
NicolasV 3:2e823b16a4a1 199 lcd.locate(8,1); lcd.printf("u=");
tony63 0:4e0dfcf0e7ce 200
NicolasV 3:2e823b16a4a1 201 loop:
NicolasV 2:00db719ebd81 202
NicolasV 3:2e823b16a4a1 203 if (t.read_ms() - t_pid > 10) {
NicolasV 3:2e823b16a4a1 204
NicolasV 3:2e823b16a4a1 205 med = y.read()*999;
NicolasV 2:00db719ebd81 206 err = spnum - med; // Se calcula el error
NicolasV 3:2e823b16a4a1 207 ap = kpnum*err*0.01f; // Se calcula la acción proporcional
NicolasV 2:00db719ebd81 208 ai += kinum*err*0.01f; // Cálculo de la integral del error
NicolasV 2:00db719ebd81 209 ad = kdnum*(err - err_v)*0.01f; // Cálculo de la acción derivativa
NicolasV 2:00db719ebd81 210 pid = ap + ai + ad;
NicolasV 3:2e823b16a4a1 211
NicolasV 3:2e823b16a4a1 212 if (pid <= 0) pid = 0;
NicolasV 3:2e823b16a4a1 213 if (pid > 999) pid = 999;
NicolasV 2:00db719ebd81 214
NicolasV 3:2e823b16a4a1 215 setpoint = spnum;
NicolasV 3:2e823b16a4a1 216 GSM.printf("#%3.0f%3.0f&", med, setpoint);
NicolasV 3:2e823b16a4a1 217
NicolasV 3:2e823b16a4a1 218 lcd.locate(3,0); lcd.printf("%3.0f ", med);
NicolasV 3:2e823b16a4a1 219 lcd.locate(3,1); lcd.printf("%3d ", spnum);
NicolasV 3:2e823b16a4a1 220 lcd.locate(11,0); lcd.printf("%3.0f ", err);
NicolasV 3:2e823b16a4a1 221 lcd.locate(11,1); lcd.printf("%3.0f ", pid);
tony63 0:4e0dfcf0e7ce 222
tony63 1:058b8f5c135d 223 err_v = err;
tony63 1:058b8f5c135d 224 o = pid/999;
tony63 1:058b8f5c135d 225 u.write(o);
tony63 1:058b8f5c135d 226
NicolasV 3:2e823b16a4a1 227 t_pid = t.read_ms();
NicolasV 3:2e823b16a4a1 228 }
NicolasV 3:2e823b16a4a1 229 else {
NicolasV 3:2e823b16a4a1 230
NicolasV 3:2e823b16a4a1 231 diferencia=(encoder.getPulses() - cambio)*6;
NicolasV 3:2e823b16a4a1 232 cambio=encoder.getPulses();
NicolasV 3:2e823b16a4a1 233
NicolasV 3:2e823b16a4a1 234 if (diferencia != 0) {
NicolasV 3:2e823b16a4a1 235 spnum += diferencia;
NicolasV 3:2e823b16a4a1 236 if (spnum >= 999) spnum = 999;
NicolasV 3:2e823b16a4a1 237 else if (spnum < 0) spnum = 0;
NicolasV 3:2e823b16a4a1 238 }
NicolasV 3:2e823b16a4a1 239
NicolasV 3:2e823b16a4a1 240 }
NicolasV 3:2e823b16a4a1 241
NicolasV 3:2e823b16a4a1 242 if (!button4) {
NicolasV 3:2e823b16a4a1 243 u.write(0);
NicolasV 3:2e823b16a4a1 244 med = 0;
NicolasV 3:2e823b16a4a1 245 err = 0;
NicolasV 3:2e823b16a4a1 246 pid = 0;
NicolasV 3:2e823b16a4a1 247
NicolasV 3:2e823b16a4a1 248 goto init;
NicolasV 3:2e823b16a4a1 249 }
NicolasV 3:2e823b16a4a1 250 else
NicolasV 2:00db719ebd81 251 goto loop;
NicolasV 3:2e823b16a4a1 252
NicolasV 3:2e823b16a4a1 253 }