PID controller voor 1 motor die een hoek van 20 graden draait, niet werkend.
Dependencies: MODSERIAL QEI mbed biquadFilter
Inverse Kinematics + PID Controller
Diff: main.cpp
- Revision:
- 5:0251fde34cdc
- Parent:
- 4:a5f3e1838e3e
- Child:
- 6:4d254faf2428
diff -r a5f3e1838e3e -r 0251fde34cdc main.cpp --- a/main.cpp Thu Oct 20 13:51:34 2016 +0000 +++ b/main.cpp Mon Oct 24 10:45:05 2016 +0000 @@ -12,10 +12,14 @@ PwmOut pwm_M2 (D5); DigitalOut dir_M1 (D7); DigitalOut dir_M2 (D4); -DigitalOut ledr (LED_RED); +InterruptIn knop(SW3); volatile double q1 = 0; volatile double q2 = 0; +volatile double q1_prev = 0; +volatile double q2_prev = 0; +volatile double q1_v; +volatile double q2_v; volatile bool go_flag_initialize = false; @@ -24,80 +28,121 @@ go_flag_initialize = true; } -volatile double q1_ref; -volatile double q2_ref; +volatile double q1_v_ref; +volatile double q2_v_ref; void initialize() { - q1_ref = 2*3.1415 /(2*3.1415); - q2_ref = 3.1415 /(2*3.1415); + q1_v_ref = 0.4; //2*3.1415 /(2*3.1415); + q2_v_ref = 0*3.1415 /(2*3.1415); } const double TS = 0.02; -const double M1_Kp = 0.4086, M1_Ki = 0.0046, M1_Kd = 3.2710; -const double M2_Kp = 0.4086, M2_Ki = 0.0046, M2_Kd = 3.2710; -const double N = 3.0624; +const double M1_Kp = 0.05, M1_Ki = 0.00, M1_Kd = 0; +const double M2_Kp = 0.3, M2_Ki = 0.00, M2_Kd = 0; +const double N = 0; volatile double ctrlOutput_M1 = 0; volatile double ctrlOutput_M2 = 0; 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) /(2*3.1415); - q2 = wheel_M2.getPulses()/(1334.355/2) /(2*3.1415); - pc.printf("q1 = %f \tq1_ref = %f \tPID1 = %f \tq2 = %f \tq2_ref = %f \tPID2 = %f\n\r",q1, q1_ref, ctrlOutput_M1,q2,q2_ref,ctrlOutput_M2); + q1 = wheel_M1.getPulses()/(1334.355/2); + q2 = wheel_M2.getPulses()/(1334.355/2); + q1_v = (q1-q1_prev)/0.02/0.3; + q2_v = (q2-q2_prev)/0.02/0.3; + q1_prev = q1; + q2_prev = q2; + pc.printf("q1_v = %f \tq1_v_ref = %f \tPID1 = %f \tq2_v = %f \tq2_v_ref = %f \tPID2 = %f\n\r",q1_v, q1_v_ref, ctrlOutput_M1,q2_v,q2_v_ref,ctrlOutput_M2); } 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) - { + ctrlOutput_M1 = pidf_M1.step(q1_v_ref-q1_v); + + if (ctrlOutput_M1 < 0) { dir_M1 = 1; - } - else - { + } else { dir_M1 = 0; } - pwm_M1 = abs(ctrlOutput_M1); + if (q1>0.5*3.1415) { + pwm_M1 = 0; + } else if (q1<-0.5*3.1415) { + pwm_M1 = 0; + } else { + pwm_M1 = abs(ctrlOutput_M1) + q1_v; + } } void M2_controller() { - ctrlOutput_M2 = pidf_M2.step(q2_ref-q2); - - if (ctrlOutput_M2 < 0) - { + ctrlOutput_M2 = pidf_M2.step(q2_v_ref-q2_v); + + if (ctrlOutput_M2 < 0) { dir_M2 = 1; - } - else - { + } else { dir_M2 = 0; } - pwm_M2 = abs(ctrlOutput_M2); + pwm_M2 = abs(ctrlOutput_M2) + q2_v; } int main() { - ledr = 1; 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); - update_encoder_ticker.attach(&update_encoder, 0.02f); - PIDcontrol_M1.attach(&M1_controller, TS); - PIDcontrol_M2.attach(&M2_controller, TS); - flag_initialize(); + // flag functions/tickers + update_encoder_ticker.attach(&flag_update_encoder, 0.02f); + PIDcontrol_M1.attach(&flag_M1_controller, TS); + PIDcontrol_M2.attach(&flag_M2_controller, TS); + // initialize function - if (go_flag_initialize == true) - { + knop.fall(&initialize); + if (go_flag_initialize == true) { go_flag_initialize = false; initialize(); } - while(1){} + + while(1) { + // update encoder + if (go_flag_update_encoder == true) { + go_flag_update_encoder = false; + update_encoder(); + } + // 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(); + } + } } \ No newline at end of file