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Stedd 2019-12-21 00:05:11 +01:00
parent 91e9be84ea
commit f1719eca0a
1 changed files with 67 additions and 36 deletions
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95
Main/motorControl.ino
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@ -2,59 +2,76 @@
const int MOTOR_SATURATION = round(pow(2, PWM_RESOLUTION));
const float WHEEL_DIAMETER = 0.067708;
const float PULSES_PER_TURN = 1320.0;
const float BALANCE_POINT = -0.05;
const float SPEED_REFERENCE = 0.0;
const float DEADBAND_M1_POS = 90.0;
const float DEADBAND_M1_NEG = 90.0;
const float DEADBAND_M2_POS = 90.0;
const float DEADBAND_M2_NEG = 90.0;
//Tuning
const float K = 3.5;
const float I = 7.5;
const float filter_gain = 15;
const float K_SC = 15.0;
const float K_OL = 13.0;
const float K_IL = 80.0;
const float I_IL = 5.5;
const float filter_gain = 15.0;
//Help variables
float M1_Lin_Vel, M2_Lin_Vel;
int M1_Speed_CMD, M2_Speed_CMD;
float M1_iError, M2_iError;
int Speed_CMD, M1_Speed_CMD, M2_Speed_CMD;
float ref, act, error;
float ref_SC, act_SC, error_SC, SC_cont_out;
float ref_OL, act_OL, error_OL, OL_cont_out;
float ref_IL, act_IL, error_IL, iError_IL;
void motors() {
//Controllers
ref = pitch * ((4096.0) / (90.0));
act = M1_Lin_Vel * 4096.0;
error = ref - act;
M1_iError = M1_iError + (error * dT * pow(10, -6) * I);
M1_Speed_CMD = round((error * K) + M1_iError);
// ref = pitch * ((4096.0) / (90.0));
// act = M2_Lin_Vel * 4096.0;
// error = ref - act;
// M2_iError = M2_iError + (error * dT * pow(10, -6) * I);
// M2_Speed_CMD = round((error * K) + M2_iError);
// Speed Controller
ref_SC = SPEED_REFERENCE;
act_SC = (M1_Lin_Vel + M2_Lin_Vel) / 2;
error_SC = ref_SC - act_SC;
SC_cont_out = (error_SC * K_SC);
// Balance controller
// Outer loop
ref_OL = BALANCE_POINT - SC_cont_out;
act_OL = pitch;
error_OL = ref_OL - act_OL;
OL_cont_out = (error_OL * K_OL);
// Inner loop
ref_IL = OL_cont_out;
act_IL = pitch_rate;
error_IL = ref_IL - act_IL;
iError_IL = iError_IL + (error_IL * dT * pow(10, -6) * I_IL);
Speed_CMD = round((error_IL * K_IL) + iError_IL);
M1_Speed_CMD = Speed_CMD;
M2_Speed_CMD = Speed_CMD;
// M1_Speed_CMD = 0;
// M2_Speed_CMD = 0;
//Calculate speed from encoders
M1_Lin_Vel = encoderReader(m1Raw, m1RawLast, M1_Lin_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT, filter_gain);
// M2_Lin_Vel = encoderReader(m2Raw, m2RawLast, M2_Lin_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT, filter_gain);
M2_Lin_Vel = encoderReader(m2Raw, m2RawLast, M2_Lin_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT, filter_gain);
//Motor 1
motorControl(1, M1_Speed_CMD, MOTOR_SATURATION);
//Motor 2
// motorSpeed(2, M2_Speed_CMD, MOTOR_SATURATION);
motorControl(2, 0, MOTOR_SATURATION);
//Motor control
motorControl(1, M1_Speed_CMD, MOTOR_SATURATION, DEADBAND_M1_POS, DEADBAND_M1_NEG);
motorControl(2, M2_Speed_CMD, MOTOR_SATURATION, DEADBAND_M2_POS, DEADBAND_M2_NEG);
// Serial plotter
Serial.print("M1_Speed_REF:");
Serial.print(ref * (100.0 / 4096.0));
Serial.print("Balance_Point:");
Serial.print(ref_OL);
Serial.print(" ");
Serial.print("M1_Speed_ACT:");
Serial.print(act * (100.0 / 4096.0));
Serial.print("Pitch_Angle:");
Serial.print(act_OL);
Serial.print(" ");
Serial.print("M1_Speed_CMD:");
Serial.println(M1_Speed_CMD * (100.0 / 4096.0));
Serial.print("Speed_CMD:");
Serial.println(Speed_CMD * (100.0 / 4096.0));
//Update variables for next scan cycle
@ -69,7 +86,7 @@ float encoderReader(int encRaw, int encRawLast, float lin_vel_filtered_, float p
return lin_vel_filtered_ + ((lin_vel_ - lin_vel_filtered_) * dT_ * 0.000001 * filt_gain_);
}
void motorControl(byte motorID, int speedCMD_, int saturation) {
void motorControl(byte motorID, int speedCMD_, int saturation, float dbPos_, float dbNeg_) {
//Calculate channel
byte ch1 = motorID * 2 - 1;
byte ch2 = motorID * 2;
@ -82,12 +99,26 @@ void motorControl(byte motorID, int speedCMD_, int saturation) {
else if (speedCMD_ < -saturation) {
speedCMD_ = -saturation;
}
//Deadband
else if (speedCMD_ > 0 && speedCMD_ < dbPos_) {
speedCMD_ = dbPos_;
}
else if (speedCMD_ < 0 && speedCMD_ > -dbNeg_) {
speedCMD_ = -dbNeg_;
}
//Zero speed if input = 0
else if (speedCMD_ == 0) {
speedCMD_ = 0;
}
else {
speedCMD_ = speedCMD_;
}
//Motor Control
//Apply speed command to PWM output
if (speedCMD_ > 0) {
ledcWrite(ch1, 0);
ledcWrite(ch2, speedCMD_);