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:
- 2016-10-20
- Revision:
- 3:6ba52d1ae499
- Parent:
- 2:0a976fb06ff8
- Child:
- 4:a5f3e1838e3e
File content as of revision 3:6ba52d1ae499:
#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 ledr (LED_RED); volatile double q1 = 0; volatile double q2 = 0; volatile double q1_prev = 0; volatile double q2_prev = 0; volatile double q1_v_ref = 0; volatile double q2_v_ref = 0; volatile bool go_flag_initialize = false; void flag_initialize() { go_flag_initialize = true; } void initialize() { q1_v_ref = 0.2; // 0.6 max q2_v_ref = 0.45; } const double TS = 0.02; const double M1_Kp = 4.348, M1_Ki = 36.632, M1_Kd = 0.126; const double M2_Kp = 4.348, M2_Ki = 36.632, M2_Kd = 0.126; const double N = 25; volatile double velocity_M1; volatile double velocity_M2; volatile double ctrlOutput_M1 = 0; volatile double ctrlOutput_M2 = 0; Ticker update_velocity_ticker; void update_velocity() { double q1 = wheel_M1.getPulses()/(1334.355/2); velocity_M1 = ((q1 - q1_prev) / TS)/5.0265; q1_prev = q1; double q2 = wheel_M2.getPulses()/(1334.355/2); velocity_M2 = ((q2 - q2_prev) / TS)/5.0265; q2_prev = q2; pc.printf("q1_v = %f \tq1_v_ref = %f \tpwm_M1 = %f \tctrlM1 = %f \tq2_v = %f \tq2_v_ref = %f \tpwm_M2 = %f \tctrlM2 = %f\n\r",velocity_M1,q1_v_ref,pwm_M1.read(),ctrlOutput_M1,velocity_M2,q2_v_ref,pwm_M2.read(),ctrlOutput_M2); } BiQuad pidf_M1; BiQuad pidf_M2; Ticker PIDcontrol_M1; Ticker PIDcontrol_M2; void M1_controller() { ctrlOutput_M1 = pidf_M1.step(q1_v_ref-velocity_M1); 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_v_ref-velocity_M2); if (ctrlOutput_M2 < 0) { dir_M2 = 1; } else { dir_M2 = 0; } pwm_M2 = abs(ctrlOutput_M2); } int main() { ledr = 1; pc.baud(115200); pidf_M1.PIDF(M1_Kp,M1_Ki,M1_Kd,N,TS); pidf_M2.PIDF(M2_Kp,M2_Ki,M2_Kd,N,TS); update_velocity_ticker.attach(&update_velocity, 0.02f); PIDcontrol_M1.attach(&M1_controller, TS); PIDcontrol_M2.attach(&M2_controller, TS); flag_initialize(); // initialize function if (go_flag_initialize == true) { go_flag_initialize = false; initialize(); } while(1){} }