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:
- 4:a5f3e1838e3e
- Parent:
- 3:6ba52d1ae499
- Child:
- 5:0251fde34cdc
diff -r 6ba52d1ae499 -r a5f3e1838e3e main.cpp --- a/main.cpp Thu Oct 20 13:07:52 2016 +0000 +++ b/main.cpp Thu Oct 20 13:51:34 2016 +0000 @@ -16,10 +16,6 @@ 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; @@ -28,32 +24,28 @@ go_flag_initialize = true; } +volatile double q1_ref; +volatile double q2_ref; void initialize() { - q1_v_ref = 0.2; // 0.6 max - q2_v_ref = 0.45; + q1_ref = 2*3.1415 /(2*3.1415); + q2_ref = 3.1415 /(2*3.1415); } 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; +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; -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() +Ticker update_encoder_ticker; +void update_encoder() { - 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); + 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); } BiQuad pidf_M1; @@ -63,7 +55,7 @@ void M1_controller() { - ctrlOutput_M1 = pidf_M1.step(q1_v_ref-velocity_M1); + ctrlOutput_M1 = pidf_M1.step(q1_ref-q1); if (ctrlOutput_M1 < 0) { @@ -78,7 +70,7 @@ void M2_controller() { - ctrlOutput_M2 = pidf_M2.step(q2_v_ref-velocity_M2); + ctrlOutput_M2 = pidf_M2.step(q2_ref-q2); if (ctrlOutput_M2 < 0) { @@ -97,7 +89,7 @@ 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); + update_encoder_ticker.attach(&update_encoder, 0.02f); PIDcontrol_M1.attach(&M1_controller, TS); PIDcontrol_M2.attach(&M2_controller, TS); flag_initialize();