PID controller voor 1 motor die een hoek van 20 graden draait, niet werkend.
Dependencies: MODSERIAL QEI mbed biquadFilter
Inverse Kinematics + PID Controller
Diff: main.cpp
- Revision:
- 9:334b1596637b
- Parent:
- 8:008a7bf80fa0
- Child:
- 10:f60f9849980a
--- a/main.cpp Wed Oct 26 07:59:23 2016 +0000 +++ b/main.cpp Wed Oct 26 14:00:22 2016 +0000 @@ -20,39 +20,36 @@ InterruptIn knop_triceps(SW3); InterruptIn knop_switch(D9); -volatile double q1 = 0; -volatile double q2 = 0; -volatile double q1_begin; -volatile double q2_begin; -volatile double l1 = 0.3626; -volatile double l2 = 0.420; -volatile double q1_v; -volatile double q2_v; -volatile double q1_ref; -volatile double q2_ref; -volatile double ctrlOutput_M1 = 0; -volatile double ctrlOutput_M2 = 0; -volatile double vx; -volatile double vy; +volatile float q1 = 0; +volatile float q2 = 0; +volatile float q1_begin; +volatile float q2_begin; +volatile float l1 = 0.3626; +volatile float l2 = 0.420; +volatile float q1_v; +volatile float q2_v; + float q1_ref = 0; + float q2_ref = 0; + float q1_error = 0; + float q2_error = 0; + float q1_error_prev = 0; + float q2_error_prev = 0; + float q1DerivativeError = 0; + float q2DerivativeError = 0; + float q1IntError = 0; + float q2IntError = 0; + float TotalError1= 0; + float TotalError2= 0; + float motorValue1Out = 0.0; + float motorValue2Out = 0.0; +volatile float ctrlOutput_M1 = 0; +volatile float ctrlOutput_M2 = 0; +volatile float vx; +volatile float vy; volatile bool translatie_richting = true; //true is verticaal, false is horizontaal -const double TS = 0.02; -const double M1_Kp = 0.5, M1_Ki = 0.00, M1_Kd = 0; // Waardes vinden? -const double M2_Kp = 0.5, M2_Ki = 0.00, M2_Kd = 0; -const double N = 0.1; - -Ticker begin_waarde_q; -int n = 0; -void begin_waarde() -{ - n++; - if(n == 2) - { - q1_begin = wheel_M1.getPulses() / (1334.355/2); - q2_begin = wheel_M2.getPulses() / (1334.355/2); - begin_waarde_q.detach(); - } -} +const float TS = 0.02; +const float MotorGain = 8.4; // bij pwm = 1 draait (losse) motor met 8.4 rad/s Ticker update_encoder_ticker; volatile bool go_flag_update_encoder = false; @@ -65,7 +62,8 @@ { q1 = wheel_M1.getPulses()/(1334.355/2); q2 = wheel_M2.getPulses()/(1334.355/2); - pc.printf("q1 = %f \tq1_ref = %f \tPID1 = %f \tq2 = %f \tq2_ref = %f \tPID2 = %f \tq1_v=%f \tq2_v=%f\n\r",q1, q1_ref, ctrlOutput_M1,q2,q2_ref,ctrlOutput_M2,q1_v,q2_v); + //pc.printf("q1 = %f \tq1_ref = %f \tPID1 = %f \tq2 = %f \tq2_ref = %f \tPID2 = %f \ttotalerror1 = %f \ttotalerror2 = %f\n\r",q1, q1_ref, ctrlOutput_M1,q2,q2_ref,ctrlOutput_M2,TotalError1,TotalError2); + pc.printf("vx = %f \tvy = %f \tq1_v = %f \tq2_v = %f\n\r",vx,vy,q1_v,q2_v); } volatile bool go_flag_initialize = false; @@ -75,12 +73,45 @@ go_flag_initialize = true; } +Ticker PIDcontrol; +volatile bool go_flag_controller = false; + +void flag_controller() +{ + go_flag_controller = true; +} + +volatile bool active_PID_ticker = false; + +void begin_hoeken() +{ + wait(3); + float q1_ref = wheel_M1.getPulses()/(1334.355/2); + float q2_ref = wheel_M2.getPulses()/(1334.355/2); + active_PID_ticker = true; +} + + void initialize() { - q1_ref = 15*2*3.1415/360; - q2_ref = -30*2*3.1415/360; + dir_M1 = 0; //ccw + dir_M2 = 1; //cw + while (q1 < 20*2*3.1415/360) { + q1 = wheel_M1.getPulses()/(1334.355/2); + pwm_M1 = 0.01; + } + pwm_M1 = 0; + + while (q2 > -45*2*3.1415/360) { + q2 = wheel_M2.getPulses()/(1334.355/2); + pwm_M2 = 0.01; + } + pwm_M2 = 0; + ledg = !ledg; + begin_hoeken(); } + void biceps() { if (translatie_richting) { // verticaal / up @@ -125,10 +156,10 @@ } Ticker update_ref_ticker; -volatile double J_1; -volatile double J_2; -volatile double J_3; -volatile double J_4; +volatile float J_1; +volatile float J_2; +volatile float J_3; +volatile float J_4; volatile bool go_flag_update_ref = false; void flag_update_ref() { @@ -148,9 +179,6 @@ q1_v = J_1 * vx + J_2 * vy; q2_v = J_3 * vx + J_4 * vy; - q1_ref = q1 + q1_v*TS; - q2_ref = q2 + q2_v*TS; - if ( (q1 > (90*2*3.1415/360)) && (q1_v > 0 ) ) { // WAARDES VINDEN 0.8726 (50 graden) q1_v = 0; q2_v = 0; @@ -164,45 +192,66 @@ q1_v = 0; q2_v = 0; } + + q1_ref = q1 + q1_v*TS; + q2_ref = q2 + q2_v*TS; } -BiQuad pidf_M1; -BiQuad pidf_M2; -Ticker PIDcontrol_M1; -Ticker PIDcontrol_M2; -volatile bool go_flag_M1_controller = false; -volatile bool go_flag_M2_controller = false; +void PID(float q1,float q1_ref,float q2,float q2_ref,float TS,float &motorValue1Out, float &motorValue2Out) +{ + // linear feedback control + float q1_error = q1_ref - q1; //referencePosition1 - Position1; // proportional angular error in radians + float q2_error = q2_ref - q2; //referencePosition1 - Position1; // proportional angular error in radians + float Kp = 1; -void flag_M1_controller() -{ - go_flag_M1_controller = true; + float q1IntError = q1IntError + q1_error*TS; // integrated error in radians + float q2IntError = q2IntError + q2_error*TS; // integrated error in radians + float Ki = 0.1; + + float q1DerivativeError = (q1_error - q1_error_prev)/TS; // derivative of error in radians + float q2DerivativeError = (q2_error - q2_error_prev)/TS; // derivative of error in radians + float Kd = 0.0; + + TotalError1 = q1_error * Kp + q1IntError * Ki + q1DerivativeError * Kd; //total controller output = motor input + TotalError2 = q2_error * Kp + q2IntError * Ki + q2DerivativeError * Kd; //total controller output = motor input + + if (TotalError1 < 0) { + TotalError1=0; + } + else { + TotalError1=TotalError1; + } + if (TotalError2 < 0) { + TotalError2=0; + } + else { + TotalError2=TotalError2; + } + + motorValue1Out = TotalError1/MotorGain; + motorValue2Out = TotalError2/MotorGain; + + q1_error_prev = q1_error; + q2_error_prev = q2_error; } -void flag_M2_controller() +void Controller() { - go_flag_M2_controller = true; -} - -void M1_controller() -{ - ctrlOutput_M1 = pidf_M1.step(q1_ref-q1); - + PID(q1,q1_ref,q2,q2_ref,TS,motorValue1Out,motorValue2Out); + ctrlOutput_M1 = motorValue1Out; + ctrlOutput_M2 = motorValue2Out; + if (ctrlOutput_M1 < 0) { dir_M1 = 1; } else { dir_M1 = 0; } pwm_M1 = abs(ctrlOutput_M1); - if (pwm_M1 < 0) { + if (pwm_M1 <= 0) { pwm_M1 = 0; - //} else { - // pwm_M1 = pwm_M1 + 0.1; + } else { + pwm_M1 = pwm_M1 + 0.05; } -} - -void M2_controller() -{ - ctrlOutput_M2 = pidf_M2.step(q2_ref-q2); if (ctrlOutput_M2 < 0) { dir_M2 = 1; @@ -210,10 +259,10 @@ dir_M2 = 0; } pwm_M2 = abs(ctrlOutput_M2); - if (pwm_M2 < 0) { + if (pwm_M2 <= 0) { pwm_M2 = 0; - //} else { - // pwm_M2 = pwm_M2 + 0.1; + } else { + pwm_M2 = pwm_M2 + 0.05; } } @@ -222,8 +271,6 @@ pc.baud(115200); wheel_M1.reset(); wheel_M2.reset(); - pidf_M1.PIDF(M1_Kp,M1_Ki,M1_Kd,N,TS); - pidf_M2.PIDF(M2_Kp,M2_Ki,M2_Kd,N,TS); knop_biceps.rise(&biceps); knop_triceps.rise(&triceps); knop_switch.rise(&switcher); @@ -231,21 +278,15 @@ // flag functions/tickers update_encoder_ticker.attach(&flag_update_encoder, TS); update_ref_ticker.attach(&flag_update_ref, TS); - PIDcontrol_M1.attach(&flag_M1_controller, TS); - PIDcontrol_M2.attach(&flag_M2_controller, TS); - begin_waarde_q.attach(&begin_waarde, 3); + // initialize -> beginposities + initialize(); - pc.printf("pidf_M1 is %s", pidf_M1.stable() ? "stable" : "unstable"); - pc.printf("pidf_M2 is %s", pidf_M2.stable() ? "stable" : "unstable"); + if (active_PID_ticker == true) { + PIDcontrol.attach(&flag_controller, TS); + } while(1) { - - // initialize function - initialize(); - if (go_flag_initialize == true) { - go_flag_initialize = false; - initialize(); - } + // update encoder if (go_flag_update_encoder == true) { go_flag_update_encoder = false; @@ -256,15 +297,10 @@ go_flag_update_ref = false; update_ref(); } - // controller M1 - if (go_flag_M1_controller == true) { - go_flag_M1_controller = false; - M1_controller(); - } - // controller M2 - if (go_flag_M2_controller == true) { - go_flag_M2_controller = false; - M2_controller(); + // controller M1+M2 + if (go_flag_controller == true) { + go_flag_controller = false; + Controller(); } } } \ No newline at end of file