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:
- 2016-10-14
- Revision:
- 0:26ce65a63616
- Child:
- 1:e5d2d638eaf4
File content as of revision 0:26ce65a63616:
#include "stdio.h" #include "math.h" #include "mbed.h" #include "QEI.h" #include "MODSERIAL.h" MODSERIAL pc(USBTX, USBRX); QEI wheel_M1 (D10, D11, NC, 64); QEI wheel_M2 (D13, D12, NC, 64); PwmOut pwm_M1 (D5); PwmOut pwm_M2 (D6); DigitalOut dir_M1 (D4); DigitalOut dir_M2 (D7); Ticker PIDcontrol; volatile double q1; volatile double q2; 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; void initialize() { dir_M1 = 0; //ccw dir_M2 = 1; //cw while (q1 > -20*2*3.1415/360) { Pulses_M1 = wheel_M1.getPulses(); //1334.355 counts/rad q1 = Pulses_M1 / (1334.355/3); // rad pwm_M1_ref = 0.1; } pwm_M1_ref = 0; //while (q2 < 45*2*3.1415/360) { // Pulses_M2 = wheel_M2.getPulses(); // q2 = Pulses_M2 / (1334.355/3); // pwm_M2_ref = 0.1; //} //pwm_M2_ref = 0; const double M1_TS = 0.002; const double M1_Kp = 4.348, M1_Ki = 36.632, M1_Kd = 0.126; double M1_err_int = 0, n1_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 M2_f_v2 = 0, m2_f_v2 = 0; //Biquad filter //volatile double u; //volatile double v; //volatile double v1; //volatile double v2; //volatile double y; //double a1; //double a2; //double b0; //double b1; //double b2; double biquad(double u, double &v1, double &v2, 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(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,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; q1 = wheel_M1.getPulses() / (1334.355/3); double velocity = (q1 - q1_prev) / 0.002; q1_prev = q1; pwm_M1 = PID(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); } int main() { pc.baud(115200); PIDcontrol.attach(&M1_controller, 0.002f); initialize(); }