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:
- 2016-10-26
- Revision:
- 9:334b1596637b
- Parent:
- 8:008a7bf80fa0
- Child:
- 10:f60f9849980a
File content as of revision 9:334b1596637b:
#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 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 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; 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 \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; void flag_initialize() { 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() { 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 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 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() { 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; 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; } q1_ref = q1 + q1_v*TS; q2_ref = q2 + q2_v*TS; } 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; 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 Controller() { 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) { pwm_M1 = 0; } else { pwm_M1 = pwm_M1 + 0.05; } if (ctrlOutput_M2 < 0) { dir_M2 = 1; } else { dir_M2 = 0; } pwm_M2 = abs(ctrlOutput_M2); if (pwm_M2 <= 0) { pwm_M2 = 0; } else { pwm_M2 = pwm_M2 + 0.05; } } int main() { pc.baud(115200); wheel_M1.reset(); wheel_M2.reset(); 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); // initialize -> beginposities initialize(); if (active_PID_ticker == true) { PIDcontrol.attach(&flag_controller, TS); } while(1) { // 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+M2 if (go_flag_controller == true) { go_flag_controller = false; Controller(); } } }