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:
- 2016-10-25
- Revision:
- 7:1444604f10d4
- Parent:
- 6:4d254faf2428
- Child:
- 8:008a7bf80fa0
File content as of revision 7:1444604f10d4:
#include "stdio.h" #include "math.h" #include "mbed.h" #include "QEI.h" #include "MODSERIAL.h" #include "BiQuad.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 ledg (LED_GREEN); DigitalOut ledr (LED_RED); DigitalOut ledb (LED_BLUE); InterruptIn knop_biceps(SW2); 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 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 = 0.1; // Waardes vinden? const double M2_Kp = 0.5, M2_Ki = 0.00, M2_Kd = 0.1; 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(); } } Ticker update_encoder_ticker; volatile bool go_flag_update_encoder = false; void flag_update_encoder() { go_flag_update_encoder = true; } void update_encoder() { 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); } volatile bool go_flag_initialize = false; void flag_initialize() { go_flag_initialize = true; } void initialize() { q1_ref = 15*2*3.1415/360; q2_ref = -30*2*3.1415/360; } void biceps() { if (translatie_richting) { // verticaal / up vx = 0; vy = 0.02; } else { // horizontaal / right vx = 0.02; vy = 0; } } void triceps() { if (translatie_richting) { // verticaal / down vx = 0; vy = -0.02; } else { // horizontaal / left vx = -0.02; vy = 0; } } void switcher() { if ( (vx == 0) && (vy == 0) ) { translatie_richting = !translatie_richting; } else { vx = 0; vy = 0; } if (translatie_richting == 1) { ledr = 1; // blauw - verticaal ledg = 1; ledb = 0; } else { ledr = 0; // rood - horizontaal ledg = 1; ledb = 1; } } Ticker update_ref_ticker; volatile double J_1; volatile double J_2; volatile double J_3; volatile double J_4; volatile bool go_flag_update_ref = false; void flag_update_ref() { go_flag_update_ref = true; } void update_ref() { q1 = wheel_M1.getPulses() / (1334.355/2); // rad q2 = wheel_M2.getPulses() / (1334.355/2); J_1 = -(l2*sin(q1 + q2))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); J_2 = (l2*cos(q1 + q2))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); J_3 = (l2*sin(q1 + q2) + l1*sin(q1))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); J_4 = -(l2*cos(q1 + q2) + l1*cos(q1))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); q1_v = J_1 * vx + J_2 * vy; q2_v = J_3 * vx + J_4 * vy; q1_ref = q1_ref + q1_v*TS + q1_begin; q2_ref = q2_ref + q2_v*TS + q2_begin; if ( (q1 > (90*2*3.1415/360)) && (q1_v > 0 ) ) { // WAARDES VINDEN 0.8726 (50 graden) q1_v = 0; q2_v = 0; } else if ( (q1 < -(90*2*3.1415/360)) && (q1_v < 0) ) { q1_v = 0; q2_v = 0; } else if ( (q2 < (-140*2*3.1415/360)) && (q2_v < 0) ) { // WAARDES VINDEN -2.4434 (-140 graden) --> werkelijke max -2.672452 q1_v = 0; q2_v = 0; } else if ( (q2 > 0) && (q2_v > 0) ) { q1_v = 0; q2_v = 0; } } 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 flag_M1_controller() { go_flag_M1_controller = true; } void flag_M2_controller() { go_flag_M2_controller = true; } void M1_controller() { ctrlOutput_M1 = pidf_M1.step(q1_ref-q1); if (ctrlOutput_M1 < 0) { dir_M1 = 1; } else { dir_M1 = 0; } pwm_M1 = abs(ctrlOutput_M1); } void M2_controller() { ctrlOutput_M2 = pidf_M2.step(q2_ref-q2); if (ctrlOutput_M2 < 0) { dir_M2 = 1; } else { dir_M2 = 0; } pwm_M2 = abs(ctrlOutput_M2); } int main() { 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); // 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); 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; update_encoder(); } // update joint positions/velocities if (go_flag_update_ref == true) { 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(); } } }