PID controller voor 1 motor die een hoek van 20 graden draait, niet werkend.
Dependencies: MODSERIAL QEI mbed biquadFilter
Inverse Kinematics + PID Controller
main.cpp
- Committer:
- willem_hoitzing
- Date:
- 2016-10-17
- Revision:
- 2:0a976fb06ff8
- Parent:
- 1:e5d2d638eaf4
- Child:
- 3:6ba52d1ae499
File content as of revision 2:0a976fb06ff8:
#include "stdio.h" #include "math.h" #include "mbed.h" #include "QEI.h" #include "MODSERIAL.h" MODSERIAL pc(USBTX, USBRX); QEI wheel_M1 (D13, D12, NC, 32); QEI wheel_M2 (D10, D11, NC, 32); PwmOut pwm_M1 (D6); PwmOut pwm_M2 (D5); DigitalOut dir_M1 (D7); DigitalOut dir_M2 (D4); DigitalOut ledr (LED_RED); Ticker PIDcontrol; volatile double q1 = 0; volatile double q2 = 0; volatile double q1_ini = 0; volatile double q2_ini = 0; volatile double q1_prev = 0; volatile double q2_prev = 0; volatile double pwm_M1_ref = 0; volatile double pwm_M2_ref = 0; volatile double Pulses_M1; volatile double Pulses_M2; volatile bool go_flag_initialize_M1 = false; void flag_initialize_M1() { go_flag_initialize_M1 = true; } void initialize_M1() { while (q1_ini < 20*2*3.1415/360) { Pulses_M1 = wheel_M1.getPulses(); //1334.355 counts/rad q1_ini = Pulses_M1 / (1334.355/2); // rad pwm_M1_ref = 0.1; //pc.printf("q1_ini = %f\n\r",q1_ini); } Pulses_M1 = wheel_M1.getPulses(); //1334.355 counts/rad q1_ini = Pulses_M1 / (1334.355/2); // rad //pc.printf("q1_ini = %f\t\tpwm_M1_ref = %f\t\tgo_flag = %B\n\r",q1_ini,pwm_M1_ref,go_flag_initialize_M1); pwm_M1_ref = 0; //pc.printf("q1_ini = %f\t\tpwm_M1_ref = %f\t\tgo_flag = %B\n\r",q1_ini,pwm_M1_ref,go_flag_initialize_M1); //while (q2_ini > -45*2*3.1415/360) { // Pulses_M2 = wheel_M2.getPulses(); // q2_ini = Pulses_M2 / (1334.355/3); // pwm_M2_ref = 0.1; //} //pwm_M2_ref = 0; } const double M1_TS = 0.2; const double M1_Kp = 4.348, M1_Ki = 36.632, M1_Kd = 0.126; double M1_err_int = 0, M1_prev_err = 0; const double M1_F_A1 = 1.0, M1_F_A2 = 2.0, M1_F_B0 = 1.0, M1_F_B1 = 3.0, M1_F_B2 = 4.0; double M1_f_v1 = 0, M1_f_v2 = 0; //Biquad filter double biquad_e_der_M1(double u, double &v1, double &v2, const double a1,const double a2,const double b0,const double b1,const double b2) { double v = u - a1*v1 - a2*v2; double y = b0*v + b1*v1 + b2*v2; v2 = v1; v1=v; return y; } //PID filter double PID_M1(double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2, const double f_a1, const double f_a2, const double f_b0, const double f_b1, const double f_b2) { // Derivative double e_der = (e - e_prev)/Ts; e_der = biquad_e_der_M1(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2); e_prev = e; // Integral e_int = e_int + Ts*e; // PID return Kp*e + Ki*e_int + Kd*e_der; } void M1_controller() { double reference = pwm_M1_ref; q1 = wheel_M1.getPulses() / (1334.355/2); // 1334.355/3 counts/rad double velocity = ((q1 - q1_prev) / M1_TS)/8.3776; // geschaald 0-1 q1_prev = q1; double pwm_M1_PID = PID_M1(reference - velocity, M1_Kp, M1_Ki, M1_Kd, M1_TS, M1_err_int, M1_prev_err, M1_f_v1, M1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2); if (pwm_M1_PID < 0) { dir_M1 = 0; } else { dir_M1 = 1; } pwm_M1 = abs(pwm_M1_PID); pc.printf("q1 = %f,\t\tpwm_M1 = %f, \t\tpwm_M1_ref = %f\t\tpwm_M1_PID = %f \t\te = %f\t\tvelocity = %f\n\r",q1,pwm_M1.read(),pwm_M1_ref,pwm_M1_PID,(reference-velocity),velocity); } int main() { ledr = 1; pc.baud(115200); PIDcontrol.attach(&M1_controller, M1_TS); flag_initialize_M1(); dir_M1 = 0; //ccw dir_M2 = 1; //cw // initialize function if (go_flag_initialize_M1 == true) { go_flag_initialize_M1 = false; initialize_M1(); } }