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\OT1/ptm/m/n/10 ques-tions about their sys-tem did I re-al-ize I made the
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\begin{document}
|
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% paper title
|
||||
\title{Final Lab Portfolio\\ \small{EEET--427--01: Controls Systems Lab}}
|
||||
|
||||
% author names
|
||||
\author{Blizzard MacDougall, rmm3470}% <-this % stops a space
|
||||
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% The report headers
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\markboth{EEET--427--01 Lab Portfolio; Dec. 2021} %Don't remove next line
|
||||
{Shell}
|
||||
|
||||
% make the title area
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||||
\maketitle
|
||||
|
||||
\begin{abstract}
|
||||
In an effort to further understanding of controls systems,
|
||||
students were instructed to construct a system capable of balancing a ball on a beam.
|
||||
This system was to be able to react to outside stimuli, and keep the ball as stable as possible.
|
||||
\end{abstract}
|
||||
|
||||
\section{Introduction}
|
||||
\IEEEPARstart{T}{he} purpose of these experiments was to provide real-world experience in implementing the controls systems concepts described in lecture.
|
||||
In addition, the labs also provided experience with troubleshooting both systems and Arduino code.
|
||||
Background knowledge necessary for this lab includes basic calculus skills and physics (specifically two-dimensional motion and forces).
|
||||
These labs make extensive use of an Arduino (purchased at the start of the course), primarily to control a motor.
|
||||
This is done using code provided by the instructor, which is modified to suit each students particular hardware.
|
||||
The labs also make use of soldering skills, as well as basic hot-glue and foam-core working skills.
|
||||
Each portion of the lab received a brief description, and were roughly based off of the work in lecture that week.
|
||||
Moreover, each lab built upon the previous lab.
|
||||
The final lab project is pictured in Figure~\ref{fig:finishedBuild}.\\
|
||||
|
||||
\section{Parts and Materials}
|
||||
There are several major components in this lab.
|
||||
First and foremost, the RoboRED YourDuino board (hereafter referred to as "the Arduino"), which is the microcontroller the labs are based in.
|
||||
This board controls all of the following devices, either directly or indirectly.
|
||||
The primary motor used in these labs is the DFRobot \verb|FIT0450| DC motor (hereafter referred to a "the motor").
|
||||
The ultimate goal of the motor is to control the beam on which a ball will balance.
|
||||
The motor is controlled by a Seeed studio \verb|MIX1508| H-Bridge Motor Driver (hereafter referred to as "the motor driver" or "the motor driver board").
|
||||
This motor driver takes power from a steady power source, and controls the motor based on PWM signals sent from the Arduino.
|
||||
The power for the motor driver in all labs is provided by an AC-to-USB power supply.
|
||||
In later labs, a Pololu carrier board containing a STMicro \verb|VL53L1X| Time-of-Flight sensor (hereafter referred to as "the TOF sensor" or "the time-of-flight sensor") is used.
|
||||
This is used to find the ball's position on the balancing beam.
|
||||
The lab also makes use of foam core and hot glue, for the balancing beam and for connecting components.
|
||||
All code for each lab was provided by the professor at the beginning of lab.\\
|
||||
|
||||
\newpage
|
||||
\section{Results}
|
||||
\subsection{Lab 1}
|
||||
The first lab's instructions were to create a standard transfer function and block diagram for the motor distributed at the beginning of lab.
|
||||
This was done by sending a constant voltage to the motor, and graphing its velocity over time, as seen in Figure~\ref{fig:ramp}.
|
||||
Values of $a$ and $b$ can be found in Table~\ref{table:vars}.
|
||||
The transfer function for the motor can be represented as $\frac{a}{s+b}$ in Figure~\ref{fig:block}, and is calculated in Equation~\ref{calculation:motorBlock}.
|
||||
These values are key for all following labs, as every subsequent lab's code uses these values to control the motor.
|
||||
|
||||
\subsection{Lab 2}
|
||||
This lab's purpose was to compare different ways of controlling the motor.
|
||||
This was done by giving the motor a trapezoidal reference signal, and comparing the response with different control schemes.
|
||||
The control schemes tested in this lab were using closed-loop feedback and feed-forward.
|
||||
The graph in Figure~\ref{fig:loopFF} shows the final comparison of all of these control mechanisms.
|
||||
This lab found that using both closed-loop feedback and feed-forward in conjunction gave the fastest response time with the most accurate steady-state speed.
|
||||
|
||||
\subsection{Lab 3}
|
||||
The purpose of this lab was to introduce how to decouple the input, and how to ensure that the motor works properly when programmed to turn backwards.
|
||||
This used an expanded version of the trapezoidal reference signal used in the previous lab, including a negative portion of the signal.
|
||||
Figure~\ref{fig:decouple} shows both the input reference signal, and that the output signal is close to the same path.
|
||||
In addition, this lab ensured that the motor never tried to use more power than was available (in this case, $5V$).
|
||||
This can be seen in the yellow line in Figure~\ref{fig:decouple}.
|
||||
|
||||
\subsection{Lab 4}
|
||||
This lab's instructions were to take the previous control schemes, and add integral control on top of them.
|
||||
This used the same trapezoidal reference signal as in Lab 3.
|
||||
This resulted in a motor response curve that was more accurate to the input signal, and was more accurate in position.
|
||||
Using the control system consisting only of proportional control and feed-forward produced an error in speed of $35.49rad/sec$,
|
||||
while the control system including integral control produced an error of only $11.82rad/sec$.
|
||||
This can be seen in comparing Figure~\ref{fig:decouple} and Figure~\ref{fig:PI}, and comparing each \verb|motorspeed| plot with the \verb|refVel| or \verb|Wref| plots.
|
||||
|
||||
\subsection{Lab 5}
|
||||
In this lab, students moved from tuning the velocity error to tuning the position error.
|
||||
This is crucial, as a high error in the position of the motor will mean an even higher error in the beam's position, making it impossible to balance the ball properly.
|
||||
To do this, the control system was given a constant position, and the motor's position over time was plotted.
|
||||
After tuning, the motor's error in position was reduced to $1.20rad$, with a response time of $<500ms$, as shown in Figure~\ref{fig:pos}.
|
||||
|
||||
\section{Discussion and Summary}
|
||||
%%Yes, I know, there's a break in writing style here. Its to fill a requirement and hopefully pass the course.
|
||||
There were some errors in the directions provided by the professor.
|
||||
This resulted in some uncertainty as to how to proceed, the most glaring of which was a discrepancy between
|
||||
the completed system the professor would periodically demonstrate and the specifications for correctly building the system.
|
||||
More specifically, the length of the beam on which the ball sits was significantly longer than the base that supported it.
|
||||
To solve this issue, I shortened the beam to fit the base.
|
||||
This resulted in needing to modify most of the code given by the professor, to account for the differing ratio between beam length
|
||||
and the range of motion of the motor.\\
|
||||
|
||||
A majority of the time, I was working outside of my comfort zone, as the last time I had worked with Arduino code previous to this lab was almost two years ago.
|
||||
This encouraged me to relearn C++ outside of class, and pushed me to learn more languages in preparation for the future to mitigate problems caused by inexperience.\\
|
||||
|
||||
Most of my physical mechanical skills came in handy in this course.
|
||||
Particularly, small arts-and-crafts skills like use of foam core and hot glue.
|
||||
This helped when it came time to troubleshoot the mis-sized beam, as I not only had to change the length of the beam itself,
|
||||
but also account for the beam in the lifting arm.
|
||||
This can be seen in Figure~\ref{fig:finishedBuild} in the triangular notch cut out of the lifting arm on the right side of the device, allowing full range of motion for the motor.\\
|
||||
|
||||
Overall, I learned that I find errors I've made by helping others.
|
||||
There were several times in the process of physically building the system that I had made some measurement incorrectly, particularly the beam length miscalculation mentioned previously.
|
||||
Only by other students asking me questions about their system did I realize I made the measurement error.
|
||||
Overall, I've found that I tend to work best in a small group of people, where we collectively share information back to the larger group.\\
|
||||
|
||||
By the end of this course, I had a good grasp on most first-order system concepts.
|
||||
In addition, I also understood how to control said systems, both mathematically and in Arduino code.
|
||||
|
||||
\newpage
|
||||
\appendices
|
||||
\section{Equations and Calculations}
|
||||
\subsection{Equations}
|
||||
\begin{equation}
|
||||
\frac1b=\tau=t_{65\%steady-state}
|
||||
\label{equation:timeConstant}
|
||||
\end{equation}
|
||||
|
||||
\begin{equation}
|
||||
\begin{split}
|
||||
\omega_{mtr;steady-state}\approx750rad/s\\
|
||||
V_{arm}=2.5V\\
|
||||
\frac{\omega_{mtr}}{V_{arm}}\approx299\frac{rad}{sV}\\
|
||||
0.65*\omega_{mtr;steady-state}=450rad/s\\
|
||||
t_{65\%steady-state}\approx120ms\\
|
||||
b=\frac{1}{\tau}=\frac{1}{0.12s}=8.\overline3Hz\\
|
||||
\frac{a}{s+b}@\ steady-state=\frac ab\\
|
||||
299\frac{rad}{sV}=\frac{a}{b}\\
|
||||
a=\left(299\frac{rad}{sV}\right)(8.\overline3Hz)\\
|
||||
a=2491.5\frac{rad}{s^2V}
|
||||
\end{split}
|
||||
\label{calculation:motorBlock}
|
||||
\end{equation}
|
||||
|
||||
\section{Tables}
|
||||
\begin{table}[!ht] %[H]
|
||||
\centering
|
||||
\label{table:vars}
|
||||
\begin{tabular}{c|r|l}
|
||||
Variable & value & unit\\ \hline
|
||||
$a$ & $2491.5$ & $\frac{rad}{s^2V}$\\\hline
|
||||
$b$ & $9.\overline{3}$ & $Hz$\\\hline
|
||||
$g$ & $9.81$ & $m/s$\\\hline
|
||||
$L_{arm}$ & $10$ & $cm$\\\hline
|
||||
$L_{beam}$ & $36$ & $cm$\\\hline
|
||||
$C_{beam}$ & $5.625$\\\hline
|
||||
$D_{beam}$ & $20$\\\hline
|
||||
$C_{ball}$ & $1$\\\hline
|
||||
$D_{ball}$ & $6$\\\hline
|
||||
$K_{p,arm}$ & $0.1$ & $\frac{Vs}{rad}$\\\hline
|
||||
$K_{p,ball}$ & $1$ & $\frac{rad}{m}$\\
|
||||
\end{tabular}
|
||||
\caption{Values for variables in Figure~\ref{fig:block}}
|
||||
\end{table}
|
||||
|
||||
\section{Images}
|
||||
\begin{figure}[H]%[!ht]
|
||||
\begin {center}
|
||||
\includegraphics[width=0.45\textwidth]{constructedSystem.jpg}
|
||||
\caption{The completed physical system.}
|
||||
\label{fig:finishedBuild}
|
||||
\end{center}
|
||||
\end{figure}
|
||||
|
||||
\begin{figure}[H]%[!ht]
|
||||
\begin {center}
|
||||
\includegraphics[width=0.45\textwidth]{motorSpeedRamp.png}
|
||||
\caption{Motor response to a steady 2.5V input}
|
||||
\label{fig:ramp}
|
||||
\end{center}
|
||||
\end{figure}
|
||||
|
||||
\begin{figure}[H]%[!ht]
|
||||
\begin {center}
|
||||
\includegraphics[width=0.45\textwidth]{lab2FinalGraph.png}
|
||||
\caption{Comparison of open-loop, closed-loop, and feed-forward systems.}
|
||||
\label{fig:loopFF}
|
||||
\end {center}
|
||||
\end{figure}
|
||||
|
||||
\begin{figure}[H]%[!ht]
|
||||
\begin {center}
|
||||
\includegraphics[width=0.45\textwidth]{lab3VelocityGraph.png}
|
||||
\caption{Trapezoidal reference signal input and output with proportional control.}
|
||||
\label{fig:decouple}
|
||||
\end {center}
|
||||
\end{figure}
|
||||
|
||||
\begin{figure}[H]%[!ht]
|
||||
\begin {center}
|
||||
\includegraphics[width=0.45\textwidth]{lab4TunedPlot.png}
|
||||
\caption{Trapezoidal reference signal with PI control.}
|
||||
\label{fig:PI}
|
||||
\end {center}
|
||||
\end{figure}
|
||||
|
||||
\begin{figure}[H]%[!ht]
|
||||
\begin {center}
|
||||
\includegraphics[width=0.45\textwidth]{lab5PositionTunedPlot.png}
|
||||
\caption{Static position response curve for the motor.}
|
||||
\label{fig:pos}
|
||||
\end {center}
|
||||
\end{figure}
|
||||
|
||||
\begin{figure}[H]%[!ht]
|
||||
\begin {center}
|
||||
\includegraphics[width=0.45\textwidth]{completeSystemBlockDiagram.jpg}
|
||||
\caption{General block diagram for a Ball-On-Beam system}
|
||||
\label{fig:block}
|
||||
\end {center}
|
||||
\end{figure}
|
||||
|
||||
\end{document}
|
||||
BIN
finalPortfolio/lab2FinalGraph.png
Normal file
BIN
finalPortfolio/lab2FinalGraph.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 14 KiB |
BIN
finalPortfolio/lab3VelocityGraph.png
Normal file
BIN
finalPortfolio/lab3VelocityGraph.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 45 KiB |
BIN
finalPortfolio/lab4TunedPlot.png
Normal file
BIN
finalPortfolio/lab4TunedPlot.png
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Binary file not shown.
|
After Width: | Height: | Size: 60 KiB |
BIN
finalPortfolio/lab5PositionTunedPlot.png
Normal file
BIN
finalPortfolio/lab5PositionTunedPlot.png
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Binary file not shown.
|
After Width: | Height: | Size: 12 KiB |
BIN
finalPortfolio/lab6StabilizedCL.png
Normal file
BIN
finalPortfolio/lab6StabilizedCL.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 27 KiB |
BIN
finalPortfolio/motorSpeedRamp.png
Normal file
BIN
finalPortfolio/motorSpeedRamp.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 31 KiB |
BIN
finalPortfolio/systemPinouts.jpg
Normal file
BIN
finalPortfolio/systemPinouts.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.1 MiB |
BIN
lab0/00-Digital Tape Measure Rev0.docx
Normal file
BIN
lab0/00-Digital Tape Measure Rev0.docx
Normal file
Binary file not shown.
85
lab0/lab0/lab1.ino
Normal file
85
lab0/lab0/lab1.ino
Normal file
|
|
@ -0,0 +1,85 @@
|
|||
#include <Wire.h>
|
||||
#include <VL53L1X.h>
|
||||
|
||||
uint8_t width, height;
|
||||
uint8_t center;
|
||||
boolean firstPrint = true;
|
||||
int x,y;
|
||||
|
||||
VL53L1X sensor;
|
||||
|
||||
int i=0;
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
Wire.begin();
|
||||
Wire.setClock(400000);
|
||||
|
||||
sensor.setTimeout(500);
|
||||
if (!sensor.init())
|
||||
{
|
||||
Serial.println("Failed to detect and initialize sensor!");
|
||||
while(1);
|
||||
}
|
||||
|
||||
//use long distance mode, allowing for 50000us (50ms) for a measurements.
|
||||
//minimum value for budget is 33ms; 200ms works well
|
||||
sensor.setDistanceMode(VL53L1X::Long);
|
||||
sensor.setMeasurementTimingBudget(50000);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
sensor.readSingle(true);
|
||||
//printLotsOfStats();
|
||||
//printIndexAndPeakSignal();
|
||||
printPlottermm();
|
||||
delay(10);
|
||||
i++;
|
||||
if (sensor.timeoutOccurred())
|
||||
{
|
||||
Serial.print(" TIMEOUT");
|
||||
}
|
||||
}
|
||||
|
||||
void printPlottermm()
|
||||
{
|
||||
if(firstPrint)
|
||||
{
|
||||
Serial.print("Range (mm):");
|
||||
Serial.println();
|
||||
firstPrint = false;
|
||||
}
|
||||
Serial.print("\t");
|
||||
Serial.print(sensor.ranging_data.range_mm);
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
void printIndexandPeakSignal()
|
||||
{
|
||||
if(firstPrint) {
|
||||
Serial.print("index:");
|
||||
Serial.print("index:");
|
||||
Serial.print("index:");
|
||||
Serial.print("index:");
|
||||
Serial.print("index:");
|
||||
Serial.println();
|
||||
firstPrint = false;
|
||||
}
|
||||
Serial.print(i); Serial.print("\t");
|
||||
Serial.print(sensor.ranging_data.range_mm); Serial.print("\t");
|
||||
Serial.print(sensor.ranging_data.peak_signal_count_rate_MCPS); Serial.print("\t");
|
||||
Serial.print(sensor.rangeStatusToString(sensor.ranging_data.range_status)); Serial.print("\t");
|
||||
Serial.print(sensor.ranging_data.ambient_count_rate_MCPS);
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
void printLotsOfStats()
|
||||
{
|
||||
Serial.print("Index:\t"); Serial.print(i);
|
||||
Serial.print("\tRange:"); Serial.print(sensor.ranging_data.range_mm);
|
||||
Serial.print("\tPeak:"); Serial.print(sensor.ranging_data.peak_signal_count_rate_MCPS);
|
||||
Serial.print("\tAmbient:"); Serial.print(sensor.ranging_data.ambient_count_rate_MCPS);
|
||||
Serial.print("\tStatus: "); Serial.print(VL53L1X::rangeStatusToString(sensor.ranging_data.range_status));
|
||||
Serial.println();
|
||||
}
|
||||
BIN
lab0/lab0Report/graph1.png
Normal file
BIN
lab0/lab0Report/graph1.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 40 KiB |
2
lab0/lab0Report/labSetup.aux
Normal file
2
lab0/lab0Report/labSetup.aux
Normal file
|
|
@ -0,0 +1,2 @@
|
|||
\relax
|
||||
\gdef \@abspage@last{1}
|
||||
1277
lab0/lab0Report/labSetup.log
Normal file
1277
lab0/lab0Report/labSetup.log
Normal file
File diff suppressed because it is too large
Load diff
BIN
lab0/lab0Report/labSetup.pdf
Normal file
BIN
lab0/lab0Report/labSetup.pdf
Normal file
Binary file not shown.
BIN
lab0/lab0Report/labSetup.synctex.gz
Normal file
BIN
lab0/lab0Report/labSetup.synctex.gz
Normal file
Binary file not shown.
103
lab0/lab0Report/labSetup.tex
Normal file
103
lab0/lab0Report/labSetup.tex
Normal file
|
|
@ -0,0 +1,103 @@
|
|||
% File: labSetup.tex
|
||||
% Created: 14:12:01 Thu, 02 Sep 2021 EDT
|
||||
% Last Change: 14:12:01 Thu, 02 Sep 2021 EDT
|
||||
%
|
||||
\documentclass[letterpaper]{article}
|
||||
\usepackage{amsmath}
|
||||
\usepackage{graphicx}
|
||||
\usepackage{cancel}
|
||||
\usepackage{amssymb}
|
||||
\usepackage{listings}
|
||||
\usepackage[shortlabels]{enumitem}
|
||||
\usepackage{lipsum}
|
||||
\usepackage{soul}
|
||||
\usepackage{geometry}
|
||||
\usepackage{tikz}
|
||||
\usepackage{pgfplots}
|
||||
\pgfplotsset{compat=newest, compat/show suggested version=false}
|
||||
|
||||
\geometry{portrait, margin=1in}
|
||||
|
||||
|
||||
|
||||
\date{09/02/2021}
|
||||
\title{%
|
||||
Lab 1 Report\\
|
||||
\large EEET-427-01: Control Systems}
|
||||
\author{Blizzard MacDougall}
|
||||
\begin{document}
|
||||
\maketitle
|
||||
\pagenumbering{arabic}
|
||||
The distance sensor is accurate to within $\pm1cm$ between a distance of $0cm$ and $~375cm$.
|
||||
\begin{center}
|
||||
\begin{tabular}{|c|c|c|}
|
||||
\hline
|
||||
Actual Value (mm) & Minimum Measurement (mm) & Maximum Measurement (mm)\\
|
||||
\hline \hline
|
||||
0 & 0 & 1\\
|
||||
\hline
|
||||
500 & 498 & 506\\
|
||||
\hline
|
||||
1000 & 997 & 1003\\
|
||||
\hline
|
||||
1500 & 1497 & 1503\\
|
||||
\hline
|
||||
2000 & 1998 & 2008\\
|
||||
\hline
|
||||
2500 & 2495 & 2503\\
|
||||
\hline
|
||||
3000 & 2999 & 3010\\
|
||||
\hline
|
||||
3500 & 3550 & 3560\\
|
||||
\hline
|
||||
4000 & 3994 & 4036\\
|
||||
\hline
|
||||
\end{tabular}
|
||||
\end{center}
|
||||
\begin{center}
|
||||
\begin{tikzpicture}
|
||||
\begin{axis}
|
||||
[
|
||||
title=Defined vs Measured Distances
|
||||
scatter/classes=
|
||||
{
|
||||
a={mark=o,draw=black}
|
||||
},
|
||||
xlabel={Defined Distance (cm)},
|
||||
ylabel={Measured Distance (cm)},
|
||||
xmin=0, xmax=400,
|
||||
ymin=0, ymax=400,
|
||||
xtick={0, 50, 100, 150, 200, 250, 300, 350, 400},
|
||||
ytick={0, 50, 100, 150, 200, 250, 300, 350, 400},
|
||||
ymajorgrids=true,
|
||||
xmajorgrids=true,
|
||||
grid style=dashed,
|
||||
]
|
||||
\addplot
|
||||
[
|
||||
domain=0:400,
|
||||
samples=10,
|
||||
color=red,
|
||||
]
|
||||
{x};
|
||||
|
||||
\addplot[scatter,only marks, scatter src=explicit symbolic]
|
||||
table
|
||||
{
|
||||
x y
|
||||
0 0.05
|
||||
50.0 50.2
|
||||
100.0 100.0
|
||||
150.0 150.0
|
||||
200.0 200.3
|
||||
250.0 249.9
|
||||
300.0 300.45
|
||||
350.0 350.5
|
||||
400.0 402.5
|
||||
};
|
||||
\end{axis}
|
||||
\end{tikzpicture}
|
||||
\end{center}
|
||||
One possible use of this is for redundancy in a liquid level measurement system. (The system would most likely already be using a float as its main measurement system. In the event that the sensor for the float failed, the distance sensor could measure the distance the float moves to determine the level of fluid in the tank, as a back-up measurement system).
|
||||
|
||||
\end{document}
|
||||
BIN
lab1/01-open loop velocity 2021v6.docx
Normal file
BIN
lab1/01-open loop velocity 2021v6.docx
Normal file
Binary file not shown.
BIN
lab1/Untitled 1.ods
Normal file
BIN
lab1/Untitled 1.ods
Normal file
Binary file not shown.
484
lab1/lab1/lab1.ino
Normal file
484
lab1/lab1/lab1.ino
Normal file
|
|
@ -0,0 +1,484 @@
|
|||
/* Click in this box, then
|
||||
|
||||
CTRL-A to select all
|
||||
|
||||
CTRL-C to copy
|
||||
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
|
||||
File: Lab1_motor_step_v3
|
||||
|
||||
Written: Aug 31, 2020, Clark Hochgraf
|
||||
|
||||
Revised: Jan 30, 2021
|
||||
|
||||
Desc:
|
||||
|
||||
This program demonstrates the response a dc motor to a voltage step input.
|
||||
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
*/
|
||||
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
|
||||
volatile float quadPos = 0.0;
|
||||
|
||||
float lastquadPos = 0;
|
||||
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
|
||||
bool isModuleEn = false;
|
||||
|
||||
bool prevModuleEn = false;
|
||||
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
|
||||
long timeElapsedTicks = 0;
|
||||
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
|
||||
int TOTAL_RUN_TIME_MSEC = 2000; // in millisec
|
||||
|
||||
volatile float adcReading = 0;
|
||||
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
const float PWM_VALUE= 128;
|
||||
|
||||
float Wref = PWM_VALUE * VOLTS_PER_PWM * RADPERSEC_PERVOLT;
|
||||
|
||||
|
||||
// ##################################################################
|
||||
|
||||
void setup()
|
||||
|
||||
{
|
||||
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
|
||||
Serial.println(F("Lab 1 Motor Step Response v3"));
|
||||
|
||||
Serial.println(F("runs for two seconds and then stops"));
|
||||
|
||||
displayMenu();
|
||||
|
||||
initMotorPins();
|
||||
|
||||
initEncoderInterrupts();
|
||||
|
||||
initPWMtimer2();
|
||||
|
||||
}
|
||||
|
||||
|
||||
// ##################################################################
|
||||
|
||||
void loop()
|
||||
|
||||
{ manageMenu();
|
||||
|
||||
syncSample();
|
||||
|
||||
|
||||
if (isModuleEn) {
|
||||
|
||||
float DCgain=1.24;
|
||||
|
||||
pwm_value_commanded = DCgain*PWM_VALUE; // Change this value to change motor speed
|
||||
|
||||
sendPWMvalueToMotor(pwm_value_commanded);
|
||||
|
||||
printResults(); // only print while motor running
|
||||
|
||||
}
|
||||
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
|
||||
pwm_value_commanded = 0;
|
||||
|
||||
sendPWMvalueToMotor(pwm_value_commanded);
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
|
||||
{
|
||||
|
||||
isModuleEn = false;
|
||||
|
||||
}
|
||||
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
|
||||
} // End main loop
|
||||
|
||||
// ##################################################################
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void sendPWMvalueToMotor(int pwm_command)
|
||||
|
||||
{
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
|
||||
pwm_command = - int(pwm_command);
|
||||
|
||||
OCR2B = 0;
|
||||
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
|
||||
}
|
||||
|
||||
else
|
||||
|
||||
{ //positive case -- set direction CW
|
||||
|
||||
pwm_command = int(pwm_command);
|
||||
|
||||
OCR2A = 0;
|
||||
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void printResults(void)
|
||||
|
||||
{ if (isModuleEn != prevModuleEn)
|
||||
|
||||
{
|
||||
|
||||
//print header
|
||||
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
|
||||
Serial.print("Wref (rad/sec)");
|
||||
|
||||
Serial.println();
|
||||
|
||||
quadPos = 0;
|
||||
|
||||
lastquadPos = quadPos;
|
||||
|
||||
}
|
||||
|
||||
motorspeedRPS = -(lastquadPos - quadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
|
||||
lastquadPos = quadPos;
|
||||
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
|
||||
Serial.print(pwm_value_commanded * VOLTS_PER_PWM); Serial.print(",");
|
||||
|
||||
Serial.print(Wref);
|
||||
|
||||
Serial.println();
|
||||
|
||||
timeElapsedTicks++;
|
||||
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void displayMenu()
|
||||
|
||||
{
|
||||
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void manageMenu()
|
||||
|
||||
{
|
||||
|
||||
char inChar = Serial.read();
|
||||
|
||||
if (inChar == 'e')
|
||||
|
||||
{
|
||||
|
||||
isModuleEn = !isModuleEn;
|
||||
|
||||
if (isModuleEn) {
|
||||
|
||||
Serial.println(F("Module ENABLED"));
|
||||
|
||||
timeElapsedTicks = 0;
|
||||
|
||||
}
|
||||
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void initMotorPins()
|
||||
|
||||
{ // configure pins as input or output
|
||||
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void initEncoderInterrupts(void)
|
||||
|
||||
{
|
||||
|
||||
// Position encoder ISR setup
|
||||
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
|
||||
cli(); // disable global interrupts
|
||||
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
|
||||
sei(); // enable global interrupts
|
||||
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void initPWMtimer2(void)
|
||||
|
||||
{
|
||||
|
||||
//-----------------------------------------------------------------
|
||||
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
|
||||
cli();
|
||||
|
||||
TCCR2B = 0;
|
||||
|
||||
TCCR2A = 0;
|
||||
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
|
||||
TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1
|
||||
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
|
||||
sei();
|
||||
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
|
||||
{
|
||||
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
|
||||
switch (quadratureCode)
|
||||
|
||||
{
|
||||
|
||||
case 0:
|
||||
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
|
||||
break;
|
||||
|
||||
case 8:
|
||||
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
|
||||
break;
|
||||
|
||||
case 12:
|
||||
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
|
||||
break;
|
||||
|
||||
case 4:
|
||||
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
|
||||
static unsigned long tic, stake = 0;
|
||||
|
||||
static boolean first_run = true;
|
||||
|
||||
if (first_run) {
|
||||
|
||||
stake = micros(); // only runs first time to set stake
|
||||
|
||||
first_run = false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
|
||||
stake = tic;
|
||||
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
|
||||
{
|
||||
|
||||
decodeEncoder32();
|
||||
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
|
||||
ISR (ADC_vect)
|
||||
|
||||
{
|
||||
|
||||
const byte N_ADC_AVE = 80;
|
||||
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
|
||||
static byte nConv = 0;
|
||||
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
|
||||
//SET_TP0_HI;
|
||||
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
|
||||
{
|
||||
|
||||
//SET_TP1_HI;
|
||||
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
|
||||
hiAccum = 0; loAccum = 0;
|
||||
|
||||
nConv = 0;
|
||||
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
|
||||
//SET_TP1_LO;
|
||||
|
||||
}
|
||||
|
||||
//SET_TP0_LO;
|
||||
|
||||
} // end of ADC_vect
|
||||
8
lab1/lab1Report/lab2Report.aux
Normal file
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lab1/lab1Report/lab2Report.aux
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
\relax
|
||||
\@writefile{toc}{\contentsline {section}{\numberline {1}Section 1}{1}{}\protected@file@percent }
|
||||
\@writefile{toc}{\contentsline {section}{\numberline {2}Section 2}{1}{}\protected@file@percent }
|
||||
\@writefile{toc}{\contentsline {section}{\numberline {3}Section 3}{1}{}\protected@file@percent }
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||||
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|
||||
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|
||||
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|
||||
760
lab1/lab1Report/lab2Report.log
Normal file
760
lab1/lab1Report/lab2Report.log
Normal file
|
|
@ -0,0 +1,760 @@
|
|||
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||||
entering extended mode
|
||||
\write18 enabled.
|
||||
file:line:error style messages enabled.
|
||||
%&-line parsing enabled.
|
||||
**lab2Report.tex
|
||||
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|
||||
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|
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||||
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|
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|
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|
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|
||||
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|
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% File: lab2Report.tex
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% Created: 10:22:13 Sat, 04 Sep 2021 EDT
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% Last Change: 10:22:13 Sat, 04 Sep 2021 EDT
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%
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\documentclass[letterpaper]{article}
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\geometry{portrait, margin=1in}
|
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|
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\date{09/04/2021}
|
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\title{%
|
||||
Lab 2 Report\\
|
||||
\large EEET-427-01: Control Systems}
|
||||
\author{Blizzard MacDougall}
|
||||
\begin{document}
|
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\maketitle
|
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\pagenumbering{arabic}
|
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\tikzstyle{int}=[draw, fill=blue!20, minimum size=2em]
|
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||||
\section{Section 1}
|
||||
\begin{equation}
|
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\begin{split}
|
||||
\omega_{mtr}=750rad/s\\
|
||||
\frac{\omega_{mtr}}{V_{arm}}=299\frac{rad}{sV}
|
||||
\end{split}
|
||||
\end{equation}
|
||||
|
||||
\section{Section 2}
|
||||
\begin{equation}
|
||||
\tau=0.12s
|
||||
\end{equation}
|
||||
|
||||
\section{Section 3}
|
||||
\begin{equation}
|
||||
\frac{\omega_{mtr}}{V_{arm}}=\frac{a}{s+b}=\frac{2491.5\frac{rad}{s^2V}}{(s+8.\overline 3)Hz}
|
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\end{equation}
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\section{Section 4}
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\section{Section 5}
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||||
\begin{equation}
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||||
\begin{split}
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||||
\omega_{mtr}=750rad/s\\
|
||||
\frac{\omega_{mtr}}{\omega_{ref}}=0.8399=83.99\%\\
|
||||
\tau=0.12s\\
|
||||
\frac{\omega_{mtr}}{\omega_{ref}}=\frac{a}{s+b}=\frac{6.999rad/s}{(s+8.\overline3)rad/s}
|
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|
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\end{center}
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\section{Section 6}
|
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|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab2_closed_loop_vel_STARTER_1
|
||||
Written: Aug 31, 2020, Clark Hochgraf
|
||||
Revised: Sep 10, 2021
|
||||
Desc:
|
||||
Closed loop speed control of dc motor.
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
float lastquadPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false;
|
||||
bool prevModuleEn = false;
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
int TOTAL_RUN_TIME_MSEC = 2000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Wref = 0;
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float D_DRAG = 0e-6;
|
||||
const float SYS_A = 1;
|
||||
const float SYS_B = 1;
|
||||
const float V_FRICTION = 0.15;
|
||||
|
||||
float Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0;
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab2_closed_loop_vel_v1"));
|
||||
Serial.println(F("runs for two seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
stepRefVel(500); // input is velocity in radians per sec
|
||||
Wref = refVel; // set reference velocity for motor
|
||||
// calculate motor velocity from change in motor position
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos; // update most recent position value
|
||||
|
||||
// ADD LINE OF CODE HERE TO CALCULATE errVel which is equal to reference Velocity minus motor vel
|
||||
errVel=refVel-mtrVel;
|
||||
|
||||
float kp=0.00125;// sets proportional feedback gain
|
||||
|
||||
// ADD LINE OF CODE HERE TO CALCULATE Varm which is equal to Kp gain times the error in velocity
|
||||
Varm=kp*errVel;
|
||||
|
||||
|
||||
//Varm = closedLoopVelP(errVel, 0.00125); // error signal, Kp gain // closed loop control
|
||||
//Varm = refVel * K_EMF; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
//Varm = Varm + closedLoopVelP(errVel, 0.0125);
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
float closedLoopVelP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if (isModuleEn != prevModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("Wref (rad/sec)");
|
||||
Serial.println();
|
||||
quadPos = 0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(Wref);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,308 @@
|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab2_motor_step_v1
|
||||
Written: Aug 31, 2020, Clark Hochgraf
|
||||
Revised: Feb 8, 2021
|
||||
Desc:
|
||||
Closed loop speed control of dc motor.
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
float lastquadPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false;
|
||||
bool prevModuleEn = false;
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
int TOTAL_RUN_TIME_MSEC = 2000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Wref = 0;
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float D_DRAG = 0e-6;
|
||||
const float SYS_A = 1;
|
||||
const float SYS_B = 1;
|
||||
const float V_FRICTION = 0.15;
|
||||
|
||||
float Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0;
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab2_closed_loop_vel_v1"));
|
||||
Serial.println(F("runs for two seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
stepRefVel(500); // input is velocity in radians per sec
|
||||
Wref = refVel;
|
||||
calculateError();
|
||||
Varm = closedLoopVelP(errVel, 0.0125); // error signal, Kp gain // closed loop control
|
||||
//Varm = refVel * K_EMF; // uncomment for open loop speed control
|
||||
Varm = refVel * K_EMF + V_FRICTION; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
//Varm = Varm + closedLoopVelP(errVel, 0.0125);
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
float closedLoopVelP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if (isModuleEn != prevModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("Wref (rad/sec)");
|
||||
Serial.println();
|
||||
quadPos = 0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(Wref);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
|
||||
|
||||
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|
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|
||||
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|
||||
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|
|
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|
|||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
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|
|||
% File: lab2Report.tex
|
||||
% Created: 14:38:48 Fri, 10 Sep 2021 EDT
|
||||
% Last Change: 14:38:48 Fri, 10 Sep 2021 EDT
|
||||
%
|
||||
\documentclass[letterpaper]{article}
|
||||
\usepackage{amsmath}
|
||||
\usepackage{graphicx}
|
||||
\usepackage{cancel}
|
||||
\usepackage{amssymb}
|
||||
\usepackage{listings}
|
||||
\usepackage[shortlabels]{enumitem}
|
||||
\usepackage{lipsum}
|
||||
\usepackage{soul}
|
||||
\usepackage{geometry}
|
||||
|
||||
\geometry{portrait, margin=1in}
|
||||
|
||||
\date{09/10/2021}
|
||||
\title{%
|
||||
Lab 2 Report\\
|
||||
\large EEET-427-01:Controls Systems}
|
||||
\author{Blizzard MacDougall}
|
||||
\begin{document}
|
||||
\maketitle
|
||||
\pagenumbering{arabic}
|
||||
\section{Section 1}
|
||||
\begin{enumerate}
|
||||
\item When $K_p=0.1$, plot the speed step response. What undesirable behavior is seen in the actual speed signal?\\
|
||||
The output speed exceeds the reference speed, making the system unstable.
|
||||
\item Looking at the $V_{arm}$ signal that represents the voltage the control system wants to apply to the motor, why didn't the time constant of the control system keep getting smaller as $K_p$ went from $0.025$ to $0.1$?\\
|
||||
The initial slope of the curve remains consistent. This is because the motor has a max acceleration that it can achieve.
|
||||
\item Plot the signal $V_{arm}$ given $K_p=0.005$ and $K_p=0.0025$. What do you notice about the shape of $V_{arm}$? How does this relate to the faster response of the motor system when K has each of the above values?\\
|
||||
The initial voltage response in $K_p=0.005$ is faster, but the voltage response of $K_p=0.0025$ is smoother.
|
||||
\end{enumerate}
|
||||
|
||||
\section{Section 2}
|
||||
\begin{enumerate}
|
||||
\item What was your value of \verb|V_FRICTION|?
|
||||
0.2595
|
||||
\item Why didn't the intercept of the trendline change even when you added \verb|V_FRICTION|?\\
|
||||
The intercept didn't change because that's a characteristic of the motor.
|
||||
\item Why was the motor able to spin at low speeds with \verb|V_FRICTION| added, but not when \verb|V_FRICTION| was excluded?\\
|
||||
This is because at low speeds, the motor has a friction to begin moving. Without compensating for that, the motor would not move at all. \verb|V_FRICTION| allows us to avoid this problem by increasing the baseline amount of voltage sent to the motor.
|
||||
\end{enumerate}
|
||||
|
||||
\section{Section 3}
|
||||
\begin{enumerate}
|
||||
\item Using the slope of the trendline slope of $\omega_{mtr}$ vs $V_{arm}$ from section 2, find \verb|D_DRAG|.\\
|
||||
\begin{equation}
|
||||
\begin{split}
|
||||
K_{eff}=K_e+\frac R{K_t}D_{drag}\\
|
||||
D_{drag}=\frac{R}{K_t}(K_{eff}-K_e)\\
|
||||
D_{drag}=\frac{0.0028}{2.14}(0.0033-0.0028)\\
|
||||
D_{drag}=6.54_E-7
|
||||
\end{split}
|
||||
\end{equation}
|
||||
\newpage
|
||||
\item Plot the step response for $\omega_{ref}=700rad/sec$, label each axis with units, and give the plot a descriptive title.\\
|
||||
\begin{figure}[h!]
|
||||
\includegraphics{section3.png}
|
||||
\end{figure}
|
||||
\item What is the time constant of the response for a reference motor speed of $700rad/sec$ when \verb|D_DRAG| compensation is included?
|
||||
\begin{equation}
|
||||
\tau=138.4ms
|
||||
\end{equation}
|
||||
\item Was the time constant with compensation much faster, about the same, or much slower than without drag compensation?
|
||||
The time constant with compensation was much faster. This is because the motor will continue to request more power for a longer period of time.
|
||||
\item Was the steady state speed percent error with compensation much lower, about the same, or much higher than without drag compensation?
|
||||
The steady state speed error was smaller with the compensation. This is because the compensation effectively shifts the
|
||||
|
||||
\end{enumerate}
|
||||
\section{Section 4}
|
||||
\begin{enumerate}
|
||||
\item Calculate the motor steady state speed error. What is the percent steady state error with closed loop feedback and compensation for \verb|D_Drag| and \verb|V_friction|?
|
||||
\begin{equation}
|
||||
error=0.3\%
|
||||
\end{equation}
|
||||
\item Calculate the time constant of the closed loop response. What is the time constant in milliseconds with closed loop feedback and compensation for \verb|D_Drag| and \verb|V_friction|?
|
||||
\begin{equation}
|
||||
\tau=37.7ms
|
||||
\end{equation}
|
||||
\newpage
|
||||
\item Was the time constant with compensation much faster, about the same, or slower than the original feedback control loop without compensation?\\
|
||||
The time constant with compensation is much faster than the original feedback loop without compensation because the feedback speeds up the reaction time.
|
||||
\item Was the steady state speed percent error with compensation much lower, about the same, or much higher than the original feedback control loop without compensation?\\
|
||||
The error with compensation is lower than without compensation because the values get significantly closer to the reference speed.
|
||||
\item What steady state speed percent error would you expect if the \verb|Kp| gain was reduced to \verb|0.00125|?
|
||||
$40-60\%$ I'd expect the error to still be bad, as with the open loop no-feed-forward. However, I would expect it to be better than that model, but worse than if Kp is high.
|
||||
\item What time constant would you expect if the \verb|Kp| gain was reduced to \verb|0.00125|? Try this and see what the actual motor speed is.
|
||||
|
||||
\end{enumerate}
|
||||
|
||||
\section{Section 5}
|
||||
\begin{enumerate}
|
||||
\item What is the notable difference between closed loop feedback control compared to open loop control, regardless of whether feed-forward is included?\\
|
||||
The closed feedback loops nearly instantaneously reach their steady-state values.
|
||||
\item What is the notable difference between using feed-forward control compared to not using feed-forward control, regardless of whether the control is open or closed loop?\\
|
||||
The feed-forward loops appear to essentially be the non-feed-forward loops shifted vertically.
|
||||
\end{enumerate}
|
||||
|
||||
|
||||
\end{document}
|
||||
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lab2/starter1/starter1.ino
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|
|
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|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab2_closed_loop_vel_STARTER_1
|
||||
Written: Aug 31, 2020, Clark Hochgraf
|
||||
Revised: Sept 17, 2021 - slowed down PWM frequency to 2kHz
|
||||
Revised: Sep 10, 2021
|
||||
Desc:
|
||||
Closed loop speed control of dc motor.
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
float lastquadPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false;
|
||||
bool prevModuleEn = false;
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
int TOTAL_RUN_TIME_MSEC = 2000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Wref = 0;
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float D_DRAG = 0e-6;
|
||||
const float SYS_A = 1;
|
||||
const float SYS_B = 1;
|
||||
const float V_FRICTION = 0.15;
|
||||
|
||||
float Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0;
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab2_closed_loop_vel_v1"));
|
||||
Serial.println(F("runs for two seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
stepRefVel(500); // input is velocity in radians per sec
|
||||
Wref = refVel; // set reference velocity for motor
|
||||
// calculate motor velocity from change in motor position
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos; // update most recent position value
|
||||
|
||||
// ADD LINE OF CODE HERE TO CALCULATE errVel which is equal to reference Velocity minus motor vel
|
||||
errVel=refVel-mtrVel;
|
||||
float kp=0.00125;// sets proportional feedback gain
|
||||
|
||||
// ADD LINE OF CODE HERE TO CALCULATE Varm which is equal to Kp gain times the error in velocity
|
||||
Varm=kp*errVel;
|
||||
|
||||
Varm = closedLoopVelP(errVel, 0.00125); // error signal, Kp gain // closed loop control
|
||||
//Varm = refVel * K_EMF; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
//Varm = Varm + closedLoopVelP(errVel, 0.0125);
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
float closedLoopVelP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if (isModuleEn != prevModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("Wref (rad/sec)");
|
||||
Serial.println();
|
||||
quadPos = 0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(Wref);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
// TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1 (problem for PWM driver board)
|
||||
TCCR2B |= (0 << CS22) | (1 << CS21) | (1 << CS20); // clock prescale = 32
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
309
lab2/starter2/starter2.ino
Normal file
309
lab2/starter2/starter2.ino
Normal file
|
|
@ -0,0 +1,309 @@
|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab2_motor_step_v1
|
||||
Written: Aug 31, 2020, Clark Hochgraf
|
||||
Revised: Sept 17, 2021 - slowed down PWM frequency to 2kHz
|
||||
Revised: Feb 8, 2021
|
||||
|
||||
Desc:
|
||||
Closed loop speed control of dc motor.
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
float lastquadPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false;
|
||||
bool prevModuleEn = false;
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
int TOTAL_RUN_TIME_MSEC = 2000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Wref = 0;
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float D_DRAG = 6.54e-7;
|
||||
const float SYS_A = 1;
|
||||
const float SYS_B = 1;
|
||||
const float V_FRICTION = 0.2595;
|
||||
|
||||
float Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0;
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab2_closed_loop_vel_v1"));
|
||||
Serial.println(F("runs for two seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
stepRefVel(500); // input is velocity in radians per sec
|
||||
Wref = refVel;
|
||||
calculateError();
|
||||
//Varm = closedLoopVelP(errVel, 0.1); // error signal, Kp gain // closed loop control
|
||||
//Varm = refVel * K_EMF; // uncomment for open loop speed control
|
||||
Varm = refVel * K_EMF + V_FRICTION; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
//Varm = Varm + closedLoopVelP(errVel, 0.0125);
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
float closedLoopVelP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if (isModuleEn != prevModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("Wref (rad/sec)");
|
||||
Serial.println();
|
||||
quadPos = 0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(Wref);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
// TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1 (problem for PWM driver board)
|
||||
TCCR2B |= (0 << CS22) | (1 << CS21) | (1 << CS20); // clock prescale = 32
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
BIN
lab3/03-Trajectory for Velocity_v5.docx
Normal file
BIN
lab3/03-Trajectory for Velocity_v5.docx
Normal file
Binary file not shown.
BIN
lab3/Lab 3 traj ANALYSIS.ods
Normal file
BIN
lab3/Lab 3 traj ANALYSIS.ods
Normal file
Binary file not shown.
BIN
lab3/Lab 3 traj ANALYSIS.xlsx
Normal file
BIN
lab3/Lab 3 traj ANALYSIS.xlsx
Normal file
Binary file not shown.
|
|
@ -0,0 +1,320 @@
|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab2_closed_loop_vel_STARTER_1
|
||||
Written: Aug 31, 2020, Clark Hochgraf
|
||||
Revised: Sep 10, 2021
|
||||
Desc:
|
||||
Closed loop speed control of dc motor.
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
float lastquadPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false;
|
||||
bool prevModuleEn = false;
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
int TOTAL_RUN_TIME_MSEC = 2000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Wref = 0;
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float D_DRAG = 0e-6;
|
||||
const float SYS_A = 1;
|
||||
const float SYS_B = 1;
|
||||
const float V_FRICTION = 0.15;
|
||||
|
||||
float Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0;
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab2_closed_loop_vel_v1"));
|
||||
Serial.println(F("runs for two seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
stepRefVel(500); // input is velocity in radians per sec
|
||||
Wref = refVel; // set reference velocity for motor
|
||||
// calculate motor velocity from change in motor position
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos; // update most recent position value
|
||||
|
||||
// ADD LINE OF CODE HERE TO CALCULATE errVel which is equal to reference Velocity minus motor vel
|
||||
errVel=refVel-mtrVel;
|
||||
|
||||
float kp=0.00125;// sets proportional feedback gain
|
||||
|
||||
// ADD LINE OF CODE HERE TO CALCULATE Varm which is equal to Kp gain times the error in velocity
|
||||
Varm=kp*errVel;
|
||||
|
||||
|
||||
//Varm = closedLoopVelP(errVel, 0.00125); // error signal, Kp gain // closed loop control
|
||||
//Varm = refVel * K_EMF; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
//Varm = Varm + closedLoopVelP(errVel, 0.0125);
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
float closedLoopVelP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if (isModuleEn != prevModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("Wref (rad/sec)");
|
||||
Serial.println();
|
||||
quadPos = 0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(Wref);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,308 @@
|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab2_motor_step_v1
|
||||
Written: Aug 31, 2020, Clark Hochgraf
|
||||
Revised: Feb 8, 2021
|
||||
Desc:
|
||||
Closed loop speed control of dc motor.
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
float lastquadPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false;
|
||||
bool prevModuleEn = false;
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
int TOTAL_RUN_TIME_MSEC = 2000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Wref = 0;
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float D_DRAG = 0e-6;
|
||||
const float SYS_A = 1;
|
||||
const float SYS_B = 1;
|
||||
const float V_FRICTION = 0.15;
|
||||
|
||||
float Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0;
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab2_closed_loop_vel_v1"));
|
||||
Serial.println(F("runs for two seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
stepRefVel(500); // input is velocity in radians per sec
|
||||
Wref = refVel;
|
||||
calculateError();
|
||||
Varm = closedLoopVelP(errVel, 0.0125); // error signal, Kp gain // closed loop control
|
||||
//Varm = refVel * K_EMF; // uncomment for open loop speed control
|
||||
Varm = refVel * K_EMF + V_FRICTION; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
//Varm = Varm + closedLoopVelP(errVel, 0.0125);
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
float closedLoopVelP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if (isModuleEn != prevModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("Wref (rad/sec)");
|
||||
Serial.println();
|
||||
quadPos = 0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(Wref);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
|
||||
|
||||
340
lab3/Lab3_traj_gen_vel_STARTER/Lab3_traj_gen_vel_STARTER.ino
Normal file
340
lab3/Lab3_traj_gen_vel_STARTER/Lab3_traj_gen_vel_STARTER.ino
Normal file
|
|
@ -0,0 +1,340 @@
|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab3_trajectory_generator
|
||||
Written: Feb 15, 2020 Clark Hochgraf
|
||||
Revised:
|
||||
Desc:
|
||||
vClosed loop speed control of dc motor with Trapezoidal reference
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
float lastquadPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false, prevModuleEn = false, isPrinting = false;
|
||||
bool isProfileEn = false, oldProfileEn = false, isShowStats = false;
|
||||
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
long TOTAL_RUN_TIME_MSEC = 4000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Wref = 0;
|
||||
|
||||
float Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0, errDist = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0, refDist = 200.0;
|
||||
float refAccT = 0.0, refVelT = 0.0, refPosT = 0.0, refDistT = 200.0;
|
||||
unsigned int tick = 0;
|
||||
|
||||
float dir = 1.0;
|
||||
float disp_rad = 0;
|
||||
float specAcc = 0.0, specVel, specDisp_rad, specVdist;
|
||||
float trapAcc = 0.0, trapVel = 0.0, trapDisp_rad = 0.0;
|
||||
float trapAccT = 0.0;
|
||||
int dwellStartT, accT, platT, dwellEndT;
|
||||
int T0, T1, T2, T3, T4, T5, T6, T7, T8;
|
||||
int D0, D1, D2, D3, D4, D5, D6, D7, D8;
|
||||
float dD1, dD2, dD3, dD4, dD5, dD6, dD7, dD8;
|
||||
boolean isTrapezoid = true;
|
||||
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float GEAR_RATIO = 120; // motor turns per output shaft turns
|
||||
const float D_DRAG = 6.54e-7;
|
||||
const float SYS_A = 26.47;
|
||||
const float SYS_B = 26.54;
|
||||
const float MaxTrqmN = 1000 * (5.0 / R_ARM) * K_TRQ;
|
||||
const float V_FRICTION = 0.2595;
|
||||
float errInt=0;
|
||||
float Ki=0;
|
||||
float Kp=0.0125;
|
||||
|
||||
float trapeAccel = 2 * 256;
|
||||
static float trapeVel = 0;
|
||||
float Vdist = 0;
|
||||
|
||||
#define signof(x) ((x) < 0 ? -1 : ((x) > 0 ? 1 : 0))
|
||||
|
||||
#include "trapeRef.h" // for the PID classes (not a library)
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab3_trajectory_generator"));
|
||||
Serial.println(F("runs for four seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
isProfileEn=true;
|
||||
// for feasible trajectory, uncomment the line below
|
||||
float accRef=1300; float velRef=700; float dispRef=6.283*120; float Ncycles=1;
|
||||
// for infeasible trajectory, uncomment the line below
|
||||
//float accRef=10250; float velRef=700; float dispRef=6.283*120; float Ncycles=1;
|
||||
trapRefVel(dispRef, velRef, accRef, Ncycles); //displacement (radians), veloc (rad/sec), acceler (rad/sec/sec), Ncycles
|
||||
//stepRefVel(500); // input is velocity in radians per sec
|
||||
Wref = refVelT; refVel=refVelT;
|
||||
calculateError();
|
||||
Varm = 0;
|
||||
errInt=errInt+errVel*TSAMP;
|
||||
Varm=Kp*(Wref-mtrVel)+errInt*Ki;
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false; isProfileEn=false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
float closedLoopVelP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if ((isModuleEn != prevModuleEn) && isModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("Wref (rad/sec)");
|
||||
Serial.println();
|
||||
quadPos = 0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(Wref);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
//TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1
|
||||
TCCR2B |= (0 << CS22) | (1 << CS21) | (1 << CS20); // clock prescale = 32
|
||||
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
101
lab3/Lab3_traj_gen_vel_STARTER/trapeRef.h
Normal file
101
lab3/Lab3_traj_gen_vel_STARTER/trapeRef.h
Normal file
|
|
@ -0,0 +1,101 @@
|
|||
//**************************************************************
|
||||
void trapBuildSymAcc(float Disp_rad, float Vplat, float Acc)
|
||||
{
|
||||
float tAcc = Vplat / Acc;
|
||||
float dAcc = Vplat * tAcc;
|
||||
float dPlat = Disp_rad - dAcc;
|
||||
float tPlat = dPlat / Vplat;
|
||||
|
||||
trapAccT = Acc; // acceleration rate
|
||||
accT = int(round(tAcc / TSAMP)); // time duration of acceleration
|
||||
platT = int(round(tPlat / TSAMP)); // time duration of constant speed
|
||||
float dTrap = (accT + platT) * TSAMP * Vplat; // total displacement during trapezoid profile
|
||||
|
||||
Serial.println();
|
||||
Serial.print("tAcc = "); Serial.println(tAcc);
|
||||
Serial.print("dAcc = "); Serial.println(dAcc);
|
||||
Serial.print("dPlat = "); Serial.println(dPlat);
|
||||
Serial.print("tPlat = "); Serial.println(tPlat);
|
||||
Serial.print("accT = "); Serial.println(accT);
|
||||
Serial.print("platT = "); Serial.println(platT);
|
||||
Serial.print("dTrap = "); Serial.println(dTrap);
|
||||
}
|
||||
|
||||
//*********************************************************************
|
||||
void trapRefVel(float specDisp_rad, float specVel, float specAcc, int Ncycles) // trap velocity profile
|
||||
{
|
||||
if (!oldProfileEn && isProfileEn)
|
||||
{
|
||||
//specDisp_rad = 300.0; specVel = 150.0; specAcc = 800.0;
|
||||
trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
dwellStartT = 1; dwellEndT = 1; specVdist = 0.0;
|
||||
|
||||
//specDisp_rad = 300.0, specVel = 100.0, specAcc = 200.0;
|
||||
//trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
//dwellStartT = 50, dwellEndT = 200; specVdist = 2.0;
|
||||
|
||||
//specDisp_rad = 206.9, specVel = 110.0, specAcc = 180.0;
|
||||
//trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
//dwellGoT = 300, dwellUpT = 500, dwellEndT = 200; specVdist = abs(V_DIST);
|
||||
|
||||
// Times when speed changes
|
||||
T0 = dwellStartT;
|
||||
T1 = T0 + accT; T2 = T1 + platT; T3 = T2 + accT; T4 = T3 + dwellEndT;
|
||||
T5 = T4 + accT; T6 = T5 + platT; T7 = T6 + accT; T8 = T7 + dwellEndT;
|
||||
|
||||
//T0 = dwellGoT;
|
||||
//T1 = T0 + accT, T2 = T1 + platT, T3 = T2 + accT, T4 = T3 + dwellUpT;
|
||||
//T5 = T4 + accT, T6 = T5 + platT, T7 = T6 + accT, T8 = T7 + dwellEndT;
|
||||
|
||||
// Times when disturbances are applied and values
|
||||
D1 = T3 + 100; D2 = D1 + 200;
|
||||
dD1 = specVdist; dD2 = -specVdist;
|
||||
|
||||
//simJumpOn_simJumpOff();
|
||||
//simJumpOn_simFileOff();
|
||||
//weightOn_simJumpOff();
|
||||
//weightOn_simFileOff();
|
||||
}
|
||||
tick = timeElapsedTicks % T8; //modulo allows rerunning of profile. Remove for single run.
|
||||
|
||||
// ---- Command profile -------------------------------------
|
||||
oldProfileEn = isProfileEn;
|
||||
if (tick < T0) refAccT = 0.0;
|
||||
else if (tick < T1) refAccT = dir * trapAccT;
|
||||
else if (tick < T2) refAccT = 0.0;
|
||||
else if (tick < T3) refAccT = -dir * trapAccT;
|
||||
else if (tick < T4) refAccT = 0.0;
|
||||
//else if (tick == T4) isProfileEn = false;
|
||||
|
||||
else if (tick < T5) refAccT = -dir * trapAccT;
|
||||
else if (tick < T6) refAccT = 0.0;
|
||||
else if (tick < T7) refAccT = dir * trapAccT;
|
||||
else if (tick < T8) refAccT = 0.0;
|
||||
else if (tick == T8) isProfileEn = false;
|
||||
|
||||
//---- Disturbance profile -----------------------------------
|
||||
if (tick < D1) Vdist = 0.0;
|
||||
else if (tick == D1) Vdist += dD1 * specVdist; // module, sim load
|
||||
else if (tick == D2) Vdist += dD2 * specVdist;
|
||||
else if (tick == D3) Vdist += dD3 * specVdist;
|
||||
else if (tick == D4) Vdist += dD4 * specVdist;
|
||||
else if (tick == D5) Vdist += dD5 * specVdist;
|
||||
else if (tick == D6) Vdist += dD6 * specVdist;
|
||||
else if (tick == D7) Vdist += dD7 * specVdist;
|
||||
else if (tick == D8) Vdist += dD8 * specVdist;
|
||||
|
||||
//---- Profile integration -----------------------------------
|
||||
if (isProfileEn) {
|
||||
refVelT += refAccT * TSAMP;
|
||||
refPosT += refVelT * TSAMP;
|
||||
}
|
||||
else {
|
||||
refAccT = 0.0;
|
||||
refVelT = 0.0;
|
||||
}
|
||||
|
||||
isShowStats = (oldProfileEn && !isProfileEn);
|
||||
if ((timeElapsedTicks/T8)>=Ncycles) {isProfileEn=false; isModuleEn=false;}; // stop after 4 profiles
|
||||
|
||||
}
|
||||
|
||||
BIN
lab3/fullyTunedVelocityGraph.png
Normal file
BIN
lab3/fullyTunedVelocityGraph.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 45 KiB |
BIN
lab3/labReport.png
Normal file
BIN
lab3/labReport.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 62 KiB |
BIN
lab3/motorAccelFeedForward.png
Normal file
BIN
lab3/motorAccelFeedForward.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 43 KiB |
BIN
lab3/motorFlatFeedForward.png
Normal file
BIN
lab3/motorFlatFeedForward.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 47 KiB |
BIN
lab3/section3.png
Normal file
BIN
lab3/section3.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 68 KiB |
BIN
lab3/section4.png
Normal file
BIN
lab3/section4.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 61 KiB |
BIN
lab4/04-PI velocity tuning_v3 .docx
Normal file
BIN
lab4/04-PI velocity tuning_v3 .docx
Normal file
Binary file not shown.
BIN
lab4/Lab 4 ANALYSIS.ods
Normal file
BIN
lab4/Lab 4 ANALYSIS.ods
Normal file
Binary file not shown.
BIN
lab4/Lab 4 ANALYSIS.xlsx
Normal file
BIN
lab4/Lab 4 ANALYSIS.xlsx
Normal file
Binary file not shown.
BIN
lab4/finalPlot.png
Normal file
BIN
lab4/finalPlot.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 60 KiB |
349
lab4/lab4Code/lab4Code.ino
Normal file
349
lab4/lab4Code/lab4Code.ino
Normal file
|
|
@ -0,0 +1,349 @@
|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab4_Velocity_PI_control
|
||||
Written: Mar 1, 2021 Clark Hochgraf
|
||||
Revised:
|
||||
Desc:
|
||||
Closed loop PI speed control of dc motor with Trapezoidal reference
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float mtrPos = 0.0;
|
||||
float lastmtrPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false, prevModuleEn = false, isPrinting = false;
|
||||
bool isProfileEn = false, oldProfileEn = false, isShowStats = false;
|
||||
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
long TOTAL_RUN_TIME_MSEC = 4000000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
|
||||
|
||||
float Varm = 0, Vff = 0;
|
||||
float mtrVel = 0.0, errVel = 0.0, errPos = 0.0, errDist = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0, refDist = 200.0;
|
||||
float refAccT = 0.0, refVelT = 0.0, refPosT = 0.0, refDistT = 200.0;
|
||||
unsigned int tick = 0;
|
||||
|
||||
float dir = 1.0;
|
||||
float disp_rad = 0;
|
||||
float specAcc = 0.0, specVel, specDisp_rad, specVdist;
|
||||
float trapAcc = 0.0, trapVel = 0.0, trapDisp_rad = 0.0;
|
||||
float trapAccT = 0.0;
|
||||
int dwellStartT, accT, platT, dwellEndT;
|
||||
int T0, T1, T2, T3, T4, T5, T6, T7, T8;
|
||||
int D0, D1, D2, D3, D4, D5, D6, D7, D8;
|
||||
float dD1, dD2, dD3, dD4, dD5, dD6, dD7, dD8;
|
||||
boolean isTrapezoid = true;
|
||||
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float GEAR_RATIO = 120; // motor turns per output shaft turns
|
||||
const float D_DRAG = 2.45e-6;
|
||||
const float SYS_A = 2491.5;
|
||||
const float SYS_B = 8.3333;
|
||||
const float MaxTrqmN = 1000 * (5.0 / R_ARM) * K_TRQ;
|
||||
const float V_FRICTION = 0.0;
|
||||
|
||||
float trapeAccel = 2 * 256;
|
||||
static float trapeVel = 0;
|
||||
float Vdist = 0;
|
||||
|
||||
#define signof(x) ((x) < 0 ? -1 : ((x) > 0 ? 1 : 0))
|
||||
|
||||
#include "trapeRef.h" // for the PID classes (not a library)
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab4_Velocity_PI_control"));
|
||||
Serial.println(F("runs for four seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
|
||||
boolean useTrapezoidalReference = true;
|
||||
if (useTrapezoidalReference) {
|
||||
isProfileEn = true;
|
||||
float maxAccel = 1300; float maxVelocity = 700; float totalDisplacement = 900; float Ncycles = 1;
|
||||
trapRefVel(totalDisplacement, maxVelocity, maxAccel, Ncycles);
|
||||
//displacement (radians), veloc (rad/sec), acceleration (rad/sec/sec), Ncycles
|
||||
refVel = refVelT; refPos = refPosT;
|
||||
}
|
||||
else { // use step reference for velocity
|
||||
refVel = 300;
|
||||
}
|
||||
calculateMotorVelocity();
|
||||
calculateError();
|
||||
Vff = refAccT / SYS_A + refVel * K_EMF + V_FRICTION * signof(refVel) + mtrVel * D_DRAG * R_ARM / K_TRQ;
|
||||
//Vff = 0;
|
||||
Varm = Vff + closedLoopPI(errVel, 0.0125, 0.195);
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false; isProfileEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
//*********************************************************************
|
||||
float closedLoopPI(float errorIn, float Kp, float Ki)
|
||||
{
|
||||
static float PI_integralError=0;
|
||||
PI_integralError+= errorIn*TSAMP;
|
||||
return Kp * errorIn+ Ki*PI_integralError;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateMotorVelocity(void)
|
||||
{
|
||||
mtrVel = (mtrPos - lastmtrPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastmtrPos = mtrPos;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
lastmtrPos = mtrPos;
|
||||
errVel = refVel - mtrVel;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if ((isModuleEn != prevModuleEn) && isModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("mtrPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("refVel (rad/sec)");
|
||||
Serial.println();
|
||||
mtrPos = 0;
|
||||
lastmtrPos = mtrPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(mtrPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(refVel);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
TCCR2B |= (0 << CS22) | (1 << CS21) | (1 << CS20); // clock prescale = 32
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) mtrPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) mtrPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) mtrPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) mtrPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) mtrPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) mtrPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) mtrPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) mtrPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
101
lab4/lab4Code/trapeRef.h
Normal file
101
lab4/lab4Code/trapeRef.h
Normal file
|
|
@ -0,0 +1,101 @@
|
|||
//**************************************************************
|
||||
void trapBuildSymAcc(float Disp_rad, float Vplat, float Acc)
|
||||
{
|
||||
float tAcc = Vplat / Acc;
|
||||
float dAcc = Vplat * tAcc;
|
||||
float dPlat = Disp_rad - dAcc;
|
||||
float tPlat = dPlat / Vplat;
|
||||
|
||||
trapAccT = Acc; // acceleration rate
|
||||
accT = int(round(tAcc / TSAMP)); // time duration of acceleration
|
||||
platT = int(round(tPlat / TSAMP)); // time duration of constant speed
|
||||
float dTrap = (accT + platT) * TSAMP * Vplat; // total displacement during trapezoid profile
|
||||
|
||||
Serial.println();
|
||||
Serial.print("tAcc = "); Serial.println(tAcc);
|
||||
Serial.print("dAcc = "); Serial.println(dAcc);
|
||||
Serial.print("dPlat = "); Serial.println(dPlat);
|
||||
Serial.print("tPlat = "); Serial.println(tPlat);
|
||||
Serial.print("accT = "); Serial.println(accT);
|
||||
Serial.print("platT = "); Serial.println(platT);
|
||||
Serial.print("dTrap = "); Serial.println(dTrap);
|
||||
}
|
||||
|
||||
//*********************************************************************
|
||||
void trapRefVel(float specDisp_rad, float specVel, float specAcc, int Ncycles) // trap velocity profile
|
||||
{
|
||||
if (!oldProfileEn && isProfileEn)
|
||||
{
|
||||
//specDisp_rad = 300.0; specVel = 150.0; specAcc = 800.0;
|
||||
trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
dwellStartT = 1; dwellEndT = 1; specVdist = 0.0;
|
||||
|
||||
//specDisp_rad = 300.0, specVel = 100.0, specAcc = 200.0;
|
||||
//trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
//dwellStartT = 50, dwellEndT = 200; specVdist = 2.0;
|
||||
|
||||
//specDisp_rad = 206.9, specVel = 110.0, specAcc = 180.0;
|
||||
//trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
//dwellGoT = 300, dwellUpT = 500, dwellEndT = 200; specVdist = abs(V_DIST);
|
||||
|
||||
// Times when speed changes
|
||||
T0 = dwellStartT;
|
||||
T1 = T0 + accT; T2 = T1 + platT; T3 = T2 + accT; T4 = T3 + dwellEndT;
|
||||
T5 = T4 + accT; T6 = T5 + platT; T7 = T6 + accT; T8 = T7 + dwellEndT;
|
||||
|
||||
//T0 = dwellGoT;
|
||||
//T1 = T0 + accT, T2 = T1 + platT, T3 = T2 + accT, T4 = T3 + dwellUpT;
|
||||
//T5 = T4 + accT, T6 = T5 + platT, T7 = T6 + accT, T8 = T7 + dwellEndT;
|
||||
|
||||
// Times when disturbances are applied and values
|
||||
D1 = T3 + 100; D2 = D1 + 200;
|
||||
dD1 = specVdist; dD2 = -specVdist;
|
||||
|
||||
//simJumpOn_simJumpOff();
|
||||
//simJumpOn_simFileOff();
|
||||
//weightOn_simJumpOff();
|
||||
//weightOn_simFileOff();
|
||||
}
|
||||
tick = timeElapsedTicks % T8; //modulo allows rerunning of profile. Remove for single run.
|
||||
|
||||
// ---- Command profile -------------------------------------
|
||||
oldProfileEn = isProfileEn;
|
||||
if (tick < T0) refAccT = 0.0;
|
||||
else if (tick < T1) refAccT = dir * trapAccT;
|
||||
else if (tick < T2) refAccT = 0.0;
|
||||
else if (tick < T3) refAccT = -dir * trapAccT;
|
||||
else if (tick < T4) refAccT = 0.0;
|
||||
//else if (tick == T4) isProfileEn = false;
|
||||
|
||||
else if (tick < T5) refAccT = -dir * trapAccT;
|
||||
else if (tick < T6) refAccT = 0.0;
|
||||
else if (tick < T7) refAccT = dir * trapAccT;
|
||||
else if (tick < T8) refAccT = 0.0;
|
||||
else if (tick == T8) isProfileEn = false;
|
||||
|
||||
//---- Disturbance profile -----------------------------------
|
||||
if (tick < D1) Vdist = 0.0;
|
||||
else if (tick == D1) Vdist += dD1 * specVdist; // module, sim load
|
||||
else if (tick == D2) Vdist += dD2 * specVdist;
|
||||
else if (tick == D3) Vdist += dD3 * specVdist;
|
||||
else if (tick == D4) Vdist += dD4 * specVdist;
|
||||
else if (tick == D5) Vdist += dD5 * specVdist;
|
||||
else if (tick == D6) Vdist += dD6 * specVdist;
|
||||
else if (tick == D7) Vdist += dD7 * specVdist;
|
||||
else if (tick == D8) Vdist += dD8 * specVdist;
|
||||
|
||||
//---- Profile integration -----------------------------------
|
||||
if (isProfileEn) {
|
||||
refVelT += refAccT * TSAMP;
|
||||
refPosT += refVelT * TSAMP;
|
||||
}
|
||||
else {
|
||||
refAccT = 0.0;
|
||||
refVelT = 0.0;
|
||||
}
|
||||
|
||||
isShowStats = (oldProfileEn && !isProfileEn);
|
||||
if ((timeElapsedTicks/T8)>=Ncycles) {isProfileEn=false; isModuleEn=false;}; // stop after 4 profiles
|
||||
|
||||
}
|
||||
|
||||
BIN
lab4/plot1.png
Normal file
BIN
lab4/plot1.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 61 KiB |
BIN
lab4/plot2.png
Normal file
BIN
lab4/plot2.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 56 KiB |
BIN
lab4/plot3.png
Normal file
BIN
lab4/plot3.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 56 KiB |
BIN
lab4/plot4.png
Normal file
BIN
lab4/plot4.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 106 KiB |
BIN
lab5/05-Closed Loop Position Full r2.docx
Normal file
BIN
lab5/05-Closed Loop Position Full r2.docx
Normal file
Binary file not shown.
BIN
lab5/Lab 5 ANALYSIS.ods
Normal file
BIN
lab5/Lab 5 ANALYSIS.ods
Normal file
Binary file not shown.
362
lab5/Lab5_Pos_Refactored/Lab5_Pos_Refactored.ino
Normal file
362
lab5/Lab5_Pos_Refactored/Lab5_Pos_Refactored.ino
Normal file
|
|
@ -0,0 +1,362 @@
|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab5_Position_PI+PZ_control
|
||||
Written: Mar 1, 2021 Clark Hochgraf
|
||||
Revised:
|
||||
Desc:
|
||||
Closed loop PI speed control of dc motor with Trapezoidal reference
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float mtrPos = 0.0;
|
||||
float lastmtrPos = 0;
|
||||
|
||||
bool isModuleEn = false, prevModuleEn = false, isPrinting = false;
|
||||
bool isProfileEn = false, oldProfileEn = false, isShowStats = false;
|
||||
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
long TOTAL_RUN_TIME_MSEC = 4000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Varm = 0, Vff = 0;
|
||||
float mtrVel = 0.0, errVel = 0.0, errPos = 0.0, errDist = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0, refDist = 200.0;
|
||||
float refAccT = 0.0, refVelT = 0.0, refPosT = 0.0, refDistT = 200.0;
|
||||
unsigned int tick = 0;
|
||||
|
||||
float dir = 1.0;
|
||||
float disp_rad = 0;
|
||||
float specAcc = 0.0, specVel, specDisp_rad, specVdist;
|
||||
float trapAcc = 0.0, trapVel = 0.0, trapDisp_rad = 0.0;
|
||||
float trapAccT = 0.0;
|
||||
int dwellStartT, accT, platT, dwellEndT;
|
||||
int T0, T1, T2, T3, T4, T5, T6, T7, T8;
|
||||
int D0, D1, D2, D3, D4, D5, D6, D7, D8;
|
||||
float dD1, dD2, dD3, dD4, dD5, dD6, dD7, dD8;
|
||||
boolean isTrapezoid = true;
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float GEAR_RATIO = 120; // motor turns per output shaft turns
|
||||
const float D_DRAG = 6.54e-7;
|
||||
const float SYS_A = 2491.5;
|
||||
const float SYS_B = 8.333;
|
||||
const float MaxTrqmN = 1000 * (5.0 / R_ARM) * K_TRQ;
|
||||
const float V_FRICTION = 0.2595;
|
||||
|
||||
float Vdist = 0;
|
||||
|
||||
#define signof(x) ((x) < 0 ? -1 : ((x) > 0 ? 1 : 0))
|
||||
|
||||
#include "trapeRef.h" // for the PID classes (not a library)
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab5_Position_PI+PZ_control"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
isProfileEn = true;
|
||||
|
||||
boolean useTrapezoidalReference = true;
|
||||
if (useTrapezoidalReference) {
|
||||
float maxAccel = 700; float maxVelocity = 300; float totalDisplacement = 200; float Ncycles = 1;
|
||||
trapRefVel(totalDisplacement, maxVelocity, maxAccel, Ncycles);
|
||||
//displacement (radians), veloc (rad/sec), acceleration (rad/sec/sec), Ncycles
|
||||
refVel = refVelT; refPos = refPosT;
|
||||
}
|
||||
else { // use step reference for position control system
|
||||
refPos = 100;
|
||||
}
|
||||
calculateMotorVelocity();
|
||||
calculateError();
|
||||
Vff = refAccT / SYS_A + refVel * K_EMF + V_FRICTION * signof(refVel) + mtrVel * D_DRAG * R_ARM / K_TRQ;
|
||||
//Vff = 0;
|
||||
//Varm = Vff + closedLoopPI(errPos, 0.2, 0.1); //
|
||||
Varm = Vff + PZ_compensate(closedLoopPI(errPos, 0.2, 0.1), 5.625, 20); //
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false; isProfileEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
|
||||
|
||||
// ##################################################################
|
||||
float PZ_compensate(float x, float c, float d)
|
||||
{
|
||||
// pole-zero compensator
|
||||
// Cancel pole at -c, replace with a pole at -d.
|
||||
// Implement (s+c)/(s+d) as 1 + (c-d)/(s+d).
|
||||
// and post scale by d/c to get unity gain at DC.
|
||||
|
||||
static float yd = 0.0;
|
||||
yd += ((c - d) * x - d * yd) * TSAMP;
|
||||
float ypd = x + yd;
|
||||
ypd = ypd * d / c; // correct scaling to unity gain at DC.
|
||||
return ypd;
|
||||
}
|
||||
//*********************************************************************
|
||||
float closedLoopP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
//*********************************************************************
|
||||
float closedLoopPI(float errorIn, float Kp, float Ki)
|
||||
{
|
||||
// Implement (Kp s+Ki)/s as Kp + Ki/s.
|
||||
static float PI_integralError = 0;
|
||||
PI_integralError += errorIn * TSAMP;
|
||||
return (Kp * errorIn + Ki * PI_integralError);
|
||||
}
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateMotorVelocity(void)
|
||||
{
|
||||
mtrVel = (mtrPos - lastmtrPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastmtrPos = mtrPos;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
errVel = refVel - mtrVel;
|
||||
errPos = refPos - mtrPos;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if ((isModuleEn != prevModuleEn) && isModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("mtrPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("refVel (rad/sec)"); Serial.print(",");
|
||||
Serial.print("refPos (rad)");
|
||||
Serial.println();
|
||||
mtrPos = 0;
|
||||
lastmtrPos = mtrPos;
|
||||
}
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(mtrVel); Serial.print(",");
|
||||
Serial.print(mtrPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(refVel); Serial.print(",");
|
||||
Serial.print(refPos);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
TCCR2B |= (0 << CS22) | (1 << CS21) | (1 << CS20); // clock prescale = 32
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) mtrPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) mtrPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) mtrPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) mtrPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) mtrPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) mtrPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) mtrPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) mtrPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
101
lab5/Lab5_Pos_Refactored/trapeRef.h
Normal file
101
lab5/Lab5_Pos_Refactored/trapeRef.h
Normal file
|
|
@ -0,0 +1,101 @@
|
|||
//**************************************************************
|
||||
void trapBuildSymAcc(float Disp_rad, float Vplat, float Acc)
|
||||
{
|
||||
float tAcc = Vplat / Acc;
|
||||
float dAcc = Vplat * tAcc;
|
||||
float dPlat = Disp_rad - dAcc;
|
||||
float tPlat = dPlat / Vplat;
|
||||
|
||||
trapAccT = Acc; // acceleration rate
|
||||
accT = int(round(tAcc / TSAMP)); // time duration of acceleration
|
||||
platT = int(round(tPlat / TSAMP)); // time duration of constant speed
|
||||
float dTrap = (accT + platT) * TSAMP * Vplat; // total displacement during trapezoid profile
|
||||
|
||||
Serial.println();
|
||||
Serial.print("tAcc = "); Serial.println(tAcc);
|
||||
Serial.print("dAcc = "); Serial.println(dAcc);
|
||||
Serial.print("dPlat = "); Serial.println(dPlat);
|
||||
Serial.print("tPlat = "); Serial.println(tPlat);
|
||||
Serial.print("accT = "); Serial.println(accT);
|
||||
Serial.print("platT = "); Serial.println(platT);
|
||||
Serial.print("dTrap = "); Serial.println(dTrap);
|
||||
}
|
||||
|
||||
//*********************************************************************
|
||||
void trapRefVel(float specDisp_rad, float specVel, float specAcc, int Ncycles) // trap velocity profile
|
||||
{
|
||||
if (!oldProfileEn && isProfileEn)
|
||||
{
|
||||
//specDisp_rad = 300.0; specVel = 150.0; specAcc = 800.0;
|
||||
trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
dwellStartT = 1; dwellEndT = 1; specVdist = 0.0;
|
||||
|
||||
//specDisp_rad = 300.0, specVel = 100.0, specAcc = 200.0;
|
||||
//trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
//dwellStartT = 50, dwellEndT = 200; specVdist = 2.0;
|
||||
|
||||
//specDisp_rad = 206.9, specVel = 110.0, specAcc = 180.0;
|
||||
//trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
//dwellGoT = 300, dwellUpT = 500, dwellEndT = 200; specVdist = abs(V_DIST);
|
||||
|
||||
// Times when speed changes
|
||||
T0 = dwellStartT;
|
||||
T1 = T0 + accT; T2 = T1 + platT; T3 = T2 + accT; T4 = T3 + dwellEndT;
|
||||
T5 = T4 + accT; T6 = T5 + platT; T7 = T6 + accT; T8 = T7 + dwellEndT;
|
||||
|
||||
//T0 = dwellGoT;
|
||||
//T1 = T0 + accT, T2 = T1 + platT, T3 = T2 + accT, T4 = T3 + dwellUpT;
|
||||
//T5 = T4 + accT, T6 = T5 + platT, T7 = T6 + accT, T8 = T7 + dwellEndT;
|
||||
|
||||
// Times when disturbances are applied and values
|
||||
D1 = T3 + 100; D2 = D1 + 200;
|
||||
dD1 = specVdist; dD2 = -specVdist;
|
||||
|
||||
//simJumpOn_simJumpOff();
|
||||
//simJumpOn_simFileOff();
|
||||
//weightOn_simJumpOff();
|
||||
//weightOn_simFileOff();
|
||||
}
|
||||
tick = timeElapsedTicks % T8; //modulo allows rerunning of profile. Remove for single run.
|
||||
|
||||
// ---- Command profile -------------------------------------
|
||||
oldProfileEn = isProfileEn;
|
||||
if (tick < T0) refAccT = 0.0;
|
||||
else if (tick < T1) refAccT = dir * trapAccT;
|
||||
else if (tick < T2) refAccT = 0.0;
|
||||
else if (tick < T3) refAccT = -dir * trapAccT;
|
||||
else if (tick < T4) refAccT = 0.0;
|
||||
//else if (tick == T4) isProfileEn = false;
|
||||
|
||||
else if (tick < T5) refAccT = -dir * trapAccT;
|
||||
else if (tick < T6) refAccT = 0.0;
|
||||
else if (tick < T7) refAccT = dir * trapAccT;
|
||||
else if (tick < T8) refAccT = 0.0;
|
||||
else if (tick == T8) isProfileEn = false;
|
||||
|
||||
//---- Disturbance profile -----------------------------------
|
||||
if (tick < D1) Vdist = 0.0;
|
||||
else if (tick == D1) Vdist += dD1 * specVdist; // module, sim load
|
||||
else if (tick == D2) Vdist += dD2 * specVdist;
|
||||
else if (tick == D3) Vdist += dD3 * specVdist;
|
||||
else if (tick == D4) Vdist += dD4 * specVdist;
|
||||
else if (tick == D5) Vdist += dD5 * specVdist;
|
||||
else if (tick == D6) Vdist += dD6 * specVdist;
|
||||
else if (tick == D7) Vdist += dD7 * specVdist;
|
||||
else if (tick == D8) Vdist += dD8 * specVdist;
|
||||
|
||||
//---- Profile integration -----------------------------------
|
||||
if (isProfileEn) {
|
||||
refVelT += refAccT * TSAMP;
|
||||
refPosT += refVelT * TSAMP;
|
||||
}
|
||||
else {
|
||||
refAccT = 0.0;
|
||||
refVelT = 0.0;
|
||||
}
|
||||
|
||||
isShowStats = (oldProfileEn && !isProfileEn);
|
||||
if ((timeElapsedTicks/T8)>=Ncycles) {isProfileEn=false; isModuleEn=false;}; // stop after 4 profiles
|
||||
|
||||
}
|
||||
|
||||
342
lab5/Lab_test_motor_mount.ino
Normal file
342
lab5/Lab_test_motor_mount.ino
Normal file
|
|
@ -0,0 +1,342 @@
|
|||
/* Click in this box, then
|
||||
CTRL-A to select all
|
||||
CTRL-C to copy
|
||||
CTRL-V to paste into Arduino IDE
|
||||
|
||||
File: Lab3_trajectory_generator
|
||||
Written: Feb 15, 2020 Clark Hochgraf
|
||||
Revised:
|
||||
Desc:
|
||||
vClosed loop speed control of dc motor with Trapezoidal reference
|
||||
Speed of the motor is measured using a quadrature encoder.
|
||||
|
||||
Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
*/
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
float lastquadPos = 0;
|
||||
float motorspeedRPS = 0;
|
||||
|
||||
bool isModuleEn = false, prevModuleEn = false, isPrinting = false;
|
||||
bool isProfileEn = false, oldProfileEn = false, isShowStats = false;
|
||||
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
long TOTAL_RUN_TIME_MSEC = 4000000; // in millisec
|
||||
volatile float adcReading = 0;
|
||||
|
||||
float pwm_value_commanded;// command supplied to the motor PWM value.
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5.0 / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
const float RADPERSEC_PERVOLT = 356.0; // from datasheet calculations
|
||||
|
||||
float Wref = 0;
|
||||
|
||||
float Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0, errDist = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0, refDist = 200.0;
|
||||
float refAccT = 0.0, refVelT = 0.0, refPosT = 0.0, refDistT = 200.0;
|
||||
unsigned int tick = 0;
|
||||
|
||||
float dir = 1.0;
|
||||
float disp_rad = 0;
|
||||
float specAcc = 0.0, specVel, specDisp_rad, specVdist;
|
||||
float trapAcc = 0.0, trapVel = 0.0, trapDisp_rad = 0.0;
|
||||
float trapAccT = 0.0;
|
||||
int dwellStartT, accT, platT, dwellEndT;
|
||||
int T0, T1, T2, T3, T4, T5, T6, T7, T8;
|
||||
int D0, D1, D2, D3, D4, D5, D6, D7, D8;
|
||||
float dD1, dD2, dD3, dD4, dD5, dD6, dD7, dD8;
|
||||
boolean isTrapezoid = true;
|
||||
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float GEAR_RATIO = 120; // motor turns per output shaft turns
|
||||
const float D_DRAG = 1 * 2.09e-6;
|
||||
const float SYS_A = 2000;
|
||||
const float SYS_B = 6;
|
||||
const float MaxTrqmN = 1000 * (5.0 / R_ARM) * K_TRQ;
|
||||
const float V_FRICTION = 0.2;
|
||||
|
||||
float trapeAccel = 2 * 256;
|
||||
static float trapeVel = 0;
|
||||
float Vdist = 0;
|
||||
|
||||
#define signof(x) ((x) < 0 ? -1 : ((x) > 0 ? 1 : 0))
|
||||
|
||||
#include "trapeRef.h" // for the PID classes (not a library)
|
||||
|
||||
// ##################################################################
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab3_trajectory_generator"));
|
||||
Serial.println(F("runs for four seconds and then stops"));
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
|
||||
if (isModuleEn) {
|
||||
isProfileEn = true;
|
||||
// for feasible trajectory, uncomment the line below
|
||||
float accRef = 0.7 * 1904.768; float velRef = 200; float dispRef = 6.283 * 8; float Ncycles = 3;
|
||||
// for infeasible trajectory, uncomment the line below
|
||||
//float accRef=20*1904.768; float velRef=1000; float dispRef=6.283*60; float Ncycles=1;
|
||||
trapRefVel(dispRef, velRef, accRef, Ncycles); //displacement (radians), veloc (rad/sec), acceler (rad/sec/sec), Ncycles
|
||||
//stepRefVel(500); // input is velocity in radians per sec
|
||||
Wref = refVelT; refVel = refVelT;
|
||||
calculateError();
|
||||
//Varm = closedLoopVelP(errVel, 0.0125); // error signal, Kp gain // closed loop control
|
||||
//Varm = refVel * K_EMF; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION; // uncomment for open loop speed control
|
||||
//Varm = refVel * K_EMF + V_FRICTION + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
//Varm = refAccT/SYS_A + refVel * K_EMF + V_FRICTION + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
Varm = refAccT/SYS_A + refVel * K_EMF + V_FRICTION*signof(Wref) + mtrVel * D_DRAG * R_ARM / K_TRQ; // uncomment for open loop speed control
|
||||
//Varm = 0;
|
||||
Varm = Varm + closedLoopVelP(errVel, 0.0125);
|
||||
driveMotorVolts(Varm);
|
||||
printResults(); // only print while motor running
|
||||
}
|
||||
else { //send zero voltage command to pwm if not enabled
|
||||
Varm = 0;
|
||||
driveMotorVolts(Varm);
|
||||
}
|
||||
|
||||
if (timeElapsedTicks * TSAMP_MSEC > TOTAL_RUN_TIME_MSEC) //stop motor after 2 seconds
|
||||
{
|
||||
isModuleEn = false; isProfileEn = false;
|
||||
}
|
||||
prevModuleEn = isModuleEn;
|
||||
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
float closedLoopVelP(float errorIn, float Kp)
|
||||
{
|
||||
return Kp * errorIn;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefVel(float vel_rad_per_sec) // step input velocity reference levels
|
||||
{
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 400) refVel = vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 800) refVel = -vel_rad_per_sec;
|
||||
else if (timeElapsedTicks < 1000) refVel = 0.0;
|
||||
else isModuleEn = false;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void driveMotorVolts(float Vmotor)
|
||||
{
|
||||
int pwm_command = (int)(Vmotor * PWM_PER_VOLT);
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255); //Serial.println(OCR2A);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255); //Serial.println(OCR2B);
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if ((isModuleEn != prevModuleEn) && isModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): "); Serial.print(",");
|
||||
Serial.print("motorspeed: (rad/sec) "); Serial.print(",");
|
||||
Serial.print("quadPos: (rad) "); Serial.print(",");
|
||||
Serial.print("pwm_command: () "); Serial.print(",");
|
||||
Serial.print("Varm (V) "); Serial.print(",");
|
||||
Serial.print("Wref (rad/sec)");
|
||||
Serial.println();
|
||||
quadPos = 0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
motorspeedRPS = mtrVel;
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print(",");
|
||||
Serial.print(motorspeedRPS); Serial.print(",");
|
||||
Serial.print(quadPos); Serial.print(",");
|
||||
Serial.print(pwm_value_commanded); Serial.print(",");
|
||||
Serial.print(Varm); Serial.print(",");
|
||||
Serial.print(Wref);
|
||||
Serial.println();
|
||||
timeElapsedTicks++;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
}
|
||||
else Serial.println(F("Module DISABLED"));
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100);
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TSAMP_MSEC
|
||||
const unsigned long TIC_USEC = TSAMP_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // if pin change occurs, update quadrature decoder
|
||||
{
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
} // end of ADC_vect
|
||||
|
||||
|
||||
BIN
lab5/lab5Continued.ods
Normal file
BIN
lab5/lab5Continued.ods
Normal file
Binary file not shown.
BIN
lab5/section2Kp02.png
Normal file
BIN
lab5/section2Kp02.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 13 KiB |
BIN
lab5/section2Kp08.png
Normal file
BIN
lab5/section2Kp08.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 29 KiB |
BIN
lab5/section3C6.png
Normal file
BIN
lab5/section3C6.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 12 KiB |
BIN
lab5/section4Overview.png
Normal file
BIN
lab5/section4Overview.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 19 KiB |
BIN
lab6/06-Matlab simulation Rev2.docx
Normal file
BIN
lab6/06-Matlab simulation Rev2.docx
Normal file
Binary file not shown.
BIN
lab6/Lab 6 analysis.xlsx
Normal file
BIN
lab6/Lab 6 analysis.xlsx
Normal file
Binary file not shown.
577
lab6/Lab6Code/Lab6Code.ino
Normal file
577
lab6/Lab6Code/Lab6Code.ino
Normal file
|
|
@ -0,0 +1,577 @@
|
|||
// Click in this box, then
|
||||
// CTRL-A to select all
|
||||
// CTRL-C to copy
|
||||
// CTRL-V to paste into Arduino IDE
|
||||
|
||||
// File: Lab6_Pos_PI_PZ_DEV
|
||||
// Written: Sept 21, 2020 Clark Hochgraf
|
||||
// Revised:
|
||||
// Desc:
|
||||
// Closed loop P+I control of motor speed.
|
||||
// Assumes fixed 5v 2amp power supply on Motor Driver
|
||||
|
||||
volatile byte quadratureCode, oldquadratureCode;
|
||||
volatile float quadPos = 0.0;
|
||||
volatile bool isEncoderChange = false;
|
||||
float lastquadPos = 0;
|
||||
|
||||
bool isModuleEn = false, prevModuleEn = false, isPrinting = false;
|
||||
bool isProfileEn = false, oldProfileEn = false, isShowStats = false;
|
||||
|
||||
const byte TSAMP_MSEC = 20;
|
||||
int TIC_MSEC = TSAMP_MSEC;
|
||||
long timeElapsedTicks = 0;
|
||||
const float TSAMP = 0.001 * TSAMP_MSEC;
|
||||
volatile float adcReading = 0;
|
||||
|
||||
const int ENC2 = A2; // d16, PC2 PCINT10 (green wire)
|
||||
const int ENC3 = A3; // d17, PC3 PCINT11 (blue wire
|
||||
const int PWM_M1A_PIN = 3; // d3, PD3 PCINT19 digital output OCR2B (green wire)
|
||||
const int PWM_M1B_PIN = 11; // d11, PB4 digital output OCR2A (blue wire)
|
||||
|
||||
const float VOLTS_PER_PWM = 5. / 255.0; // motor drive voltage per pwm command
|
||||
const float PWM_PER_VOLT = 1 / VOLTS_PER_PWM; // pwm value to achieve 1 volt output
|
||||
|
||||
float Vctl, Varm;
|
||||
float mtrVel = 0.0, mtrPos = 0.0, errVel = 0.0, errPos = 0.0;
|
||||
float refAcc = 0.0, refVel = 0.0, refPos = 0.0;
|
||||
unsigned int tick = 0;
|
||||
|
||||
float dir = 1.0;
|
||||
float disp_rad = 0;
|
||||
float specAcc = 0.0, specVel, specDisp_rad, specVdist;
|
||||
float trapAcc = 0.0, trapVel = 0.0, trapDisp_rad = 0.0;
|
||||
int dwellStartT, accT, platT, dwellEndT;
|
||||
int T0, T1, T2, T3, T4, T5, T6, T7, T8;
|
||||
int D0, D1, D2, D3, D4, D5, D6, D7, D8;
|
||||
float dD1, dD2, dD3, dD4, dD5, dD6, dD7, dD8;
|
||||
boolean isTrapezoid = true;
|
||||
|
||||
//---------------------------------------------------------------------
|
||||
// Motor constants: DF robot motor with encoder model FIT0458
|
||||
const float K_EMF = 0.00285; //(V/(160*120))*60.0/TWO_PI; // V/rad/sec from V/1000RPM
|
||||
const float K_TRQ = 0.008 / 2.8; // N-m/Amp
|
||||
const float R_ARM = 2.14; // ohms
|
||||
const float D_DRAG = 0*1.117e-6;
|
||||
const float SYS_A = 1795;//1795; //2040//1717
|
||||
const float SYS_B = 6.21;
|
||||
|
||||
boolean isFrictionCompensated = true; boolean isVff = true;
|
||||
const float V_FRICTION = 0.20;
|
||||
float Vffwd = 0;
|
||||
float Vdist = 0;
|
||||
|
||||
static float lastmicroseconds=0;
|
||||
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);//Initialize the serial port ** Set Serial Monitor to same 115200
|
||||
Serial.println(F("Lab6_Pos_PI_PZ_DEV"));
|
||||
|
||||
displayMenu();
|
||||
initMotorPins();
|
||||
initEncoderInterrupts();
|
||||
initPWMtimer2();
|
||||
}
|
||||
|
||||
// ##################################################################
|
||||
void loop()
|
||||
{ manageMenu();
|
||||
syncSample();
|
||||
lastmicroseconds=micros();
|
||||
|
||||
isProfileEn = isModuleEn;
|
||||
if (isModuleEn) {
|
||||
isTrapezoid=false;
|
||||
if (isTrapezoid) { // Choose speed reference
|
||||
trapRefVel(700.0, 600.0, 1500.0); //displacement (radians), veloc (rad/sec), acceler (rad/sec/sec)
|
||||
// good values for trapRefVel are 700, 600, 1500
|
||||
} else {
|
||||
stepRefPos(50);
|
||||
}
|
||||
// Choose which control method to use by uncommenting it below
|
||||
calculateError(); // location of function call for efficient software execution
|
||||
//delayMicroseconds(20000); // To model delay of digital controller, add delay here
|
||||
//closedLoopVelPI(isFrictionCompensated, isVff, 0.004, 0.01); // friction enabled? Vff enabled? Kp gain
|
||||
closedLoopPosPI(isFrictionCompensated, isVff, 0.16, 0.1); // friction enabled? Vff enabled? Kp gain
|
||||
//closedLoopPosPI_PZ(isFrictionCompensated, isVff, 0.16,0.1,5,20); // friction enabled? Vff enabled? Kp,Ki,CompC,CompD
|
||||
//calculateError(); // if the calculateError() is called here system stability is severely degraded.
|
||||
}
|
||||
else { // stop motor by sending zero voltage command to pwm
|
||||
OCR2B = 0; OCR2A = 0;
|
||||
timeElapsedTicks=0;
|
||||
quadPos=0;
|
||||
lastquadPos = quadPos;
|
||||
}
|
||||
|
||||
if (isModuleEn && (timeElapsedTicks * TSAMP_MSEC) <= 4000) //stop print after 4 seconds
|
||||
{
|
||||
//isModuleEn = false;
|
||||
printResults();
|
||||
}
|
||||
|
||||
if (isPrinting) printResults();
|
||||
|
||||
//lastmicroseconds=micros();
|
||||
//Serial.println(micros()-lastmicroseconds);
|
||||
if (isModuleEn) timeElapsedTicks++;
|
||||
prevModuleEn = isModuleEn;
|
||||
} // End main loop
|
||||
// ##################################################################
|
||||
|
||||
|
||||
|
||||
//**************************************************************
|
||||
float PD_compensate(float x, float c, float d)
|
||||
{
|
||||
// Proportional plus Derivative compensator
|
||||
// Cancel pole at -c, replace with a pole at -d.
|
||||
// Implement (s+c)/(s+d) as 1 + (c-d)/(s+d).
|
||||
// and post scale by d/c to get unity gain at DC.
|
||||
|
||||
// PD section
|
||||
static float yd = 0.0;
|
||||
yd += ((c - d) * x - d * yd) * TSAMP;
|
||||
float ypd = x + yd;
|
||||
ypd = ypd * d / c; // correct scaling to unity gain at DC.
|
||||
return ypd;
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
float VfrictionVelocity(float Vcmd)
|
||||
{ // calculates voltage required to overcome friction.
|
||||
// direction of voltage depends on commanded direction of velocity
|
||||
float frictionV = 0.0;
|
||||
//Coulomb friction
|
||||
if (Vcmd > 0.001) frictionV = V_FRICTION;
|
||||
if (Vcmd < -0.001) frictionV = -V_FRICTION;
|
||||
//static friction
|
||||
if ((mtrVel < 1) && (mtrVel > -1) && (Vcmd > 0.001)) frictionV += 0.4;
|
||||
if ((mtrVel < 1) && (mtrVel > -1) && (Vcmd < -0.001)) frictionV -= 0.4;
|
||||
return frictionV;
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void calculateError(void)
|
||||
{
|
||||
mtrVel = (quadPos - lastquadPos) / (TSAMP_MSEC * 0.001); // radians per time interval (rad/sec)
|
||||
lastquadPos = quadPos;
|
||||
mtrPos = quadPos;
|
||||
errVel = refVel - mtrVel;
|
||||
errPos = refPos - mtrPos;
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void printResults(void)
|
||||
{ if (isModuleEn != prevModuleEn)
|
||||
{
|
||||
//print header
|
||||
Serial.print("time (msec): ");
|
||||
Serial.print("\tmotorspeed: (rad/sec)");
|
||||
Serial.print("\tquadPos: (rad)");
|
||||
Serial.print("\t errVel: (rad/sec)");
|
||||
Serial.print("\t Vctrl (V)");
|
||||
Serial.print("\t Wref (rad/sec)");
|
||||
Serial.print("\t Posref (rad)");
|
||||
Serial.println();
|
||||
//lastquadPos = quadPos;
|
||||
}
|
||||
Serial.print(timeElapsedTicks * TSAMP_MSEC); Serial.print("\t");
|
||||
Serial.print(mtrVel); Serial.print("\t");
|
||||
Serial.print(quadPos); Serial.print("\t");
|
||||
Serial.print(errVel); Serial.print("\t");
|
||||
Serial.print(Vctl); Serial.print("\t");
|
||||
Serial.print(refVel); Serial.print("\t");
|
||||
Serial.print(refPos);
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void initEncoderInterrupts(void)
|
||||
{
|
||||
// Position encoder ISR setup
|
||||
// PCINT1_vect ISR triggered for enabled bit changes on PCMSK1
|
||||
|
||||
cli(); // disable global interrupts
|
||||
PCMSK1 = 0b00001100; // ENC3,2,1,0 -> A3,A2,A1,A0 -> d17,16,15,14
|
||||
PCICR = (1 << PCIE1); // enable pin change interrupts 8..14
|
||||
sei(); // enable global interrupts
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initPWMtimer2(void)
|
||||
{
|
||||
//-----------------------------------------------------------------
|
||||
// Use Timer 2 for direct motor drive PWM generation.
|
||||
// Prescale = 1, FAST PWM, 8-bit (Mode 3) -> 62.5 kHz PWM
|
||||
// Output pins OC2B (d3~) and OC2A (d11~) driven by counter hardware.
|
||||
cli();
|
||||
TCCR2B = 0;
|
||||
TCCR2A = 0;
|
||||
TCCR2B = (0 << WGM22); // start FAST PWM mode 3 setup
|
||||
TCCR2A = (1 << WGM21) | (1 << WGM20); // finish FAST PWM setup
|
||||
TCCR2B |= (0 << CS22) | (0 << CS21) | (1 << CS20); // clock prescale = 1
|
||||
TCCR2A |= (1 << COM2B1) | (0 << COM2B0); // OCR2B pin (d3~) noninverting PWM
|
||||
TCCR2A |= (1 << COM2A1) | (0 << COM2A0); // OCR2A pin (d11~) noninverting PWM
|
||||
OCR2B = 1; OCR2A = 1;
|
||||
sei();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR(PCINT1_vect) // vector to quadrature decoder
|
||||
{
|
||||
//digitalWrite(ALED,!digitalRead(ALED));
|
||||
isEncoderChange = true;
|
||||
decodeEncoder32();
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void decodeEncoder32(void) // 2 bit quad decoder
|
||||
{
|
||||
const float MTR_RAD_PER_TICK = TWO_PI / 32;
|
||||
static byte oldquadratureCode = 0;
|
||||
|
||||
oldquadratureCode = quadratureCode;
|
||||
quadratureCode = (PINC & 0b00001100); // inner tracks
|
||||
|
||||
// Quadrature sequence: 0,8,12,4 (update ?CW facing end)
|
||||
switch (quadratureCode)
|
||||
{
|
||||
case 0:
|
||||
if (oldquadratureCode == 4) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 8) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 8:
|
||||
if (oldquadratureCode == 0) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 12) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 12:
|
||||
if (oldquadratureCode == 8) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 4) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
case 4:
|
||||
if (oldquadratureCode == 12) quadPos += MTR_RAD_PER_TICK;
|
||||
if (oldquadratureCode == 0) quadPos -= MTR_RAD_PER_TICK;
|
||||
break;
|
||||
}
|
||||
|
||||
} // decodeEncoder32( )
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void syncSample() // set the sample rate for ADC and therefore for the main loop
|
||||
{ // sample interval time is set by TIC_MSEC
|
||||
const unsigned long TIC_USEC = TIC_MSEC * 1000UL;
|
||||
const byte ADCSRA_ISR = 0b11101111; // auto ISR, clkdiv = 128
|
||||
static unsigned long tic, stake = 0;
|
||||
static boolean first_run = true;
|
||||
if (first_run) {
|
||||
stake = micros(); // only runs first time to set stake
|
||||
first_run = false;
|
||||
}
|
||||
|
||||
while ((tic - stake) < TIC_USEC) tic = micros(); // wait here until
|
||||
stake = tic;
|
||||
ADCSRA = ADCSRA_ISR; // start oversample-average series
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
ISR (ADC_vect)
|
||||
{
|
||||
const byte N_ADC_AVE = 80;
|
||||
const float INV_N_ADC = 1.0 / N_ADC_AVE;
|
||||
static byte nConv = 0;
|
||||
static unsigned int loAccum = 0, hiAccum = 0;
|
||||
|
||||
//SET_TP0_HI;
|
||||
loAccum += ADCL; // lower 8 bits: must read before ADCH per Atmel
|
||||
hiAccum += ADCH; // upper 2 bits
|
||||
|
||||
if (++nConv >= N_ADC_AVE)
|
||||
{
|
||||
//SET_TP1_HI;
|
||||
adcReading = INV_N_ADC * (256UL * hiAccum + loAccum);
|
||||
hiAccum = 0; loAccum = 0;
|
||||
nConv = 0;
|
||||
ADCSRA &= ~bit(ADIE); // stop auto conversions
|
||||
//SET_TP1_LO;
|
||||
}
|
||||
//SET_TP0_LO;
|
||||
|
||||
} // end of ADC_vect
|
||||
|
||||
//********************************************************************
|
||||
void displayMenu()
|
||||
{
|
||||
Serial.println("\nEnter 'e' to toggle module enable.");
|
||||
//Serial.println("Enter 'g' to go.");
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void manageMenu()
|
||||
{
|
||||
char inChar = Serial.read();
|
||||
if (inChar == 'e')
|
||||
{
|
||||
isModuleEn = !isModuleEn;
|
||||
//digitalWrite(PWMVAL_PIN, isModuleEn); // PWM disable low
|
||||
if (isModuleEn) {
|
||||
Serial.println(F("Module ENABLED"));
|
||||
timeElapsedTicks = 0;
|
||||
oldProfileEn=false; isProfileEn=true;
|
||||
}
|
||||
else {
|
||||
Serial.println(F("Module DISABLED"));
|
||||
quadPos=0;
|
||||
lastquadPos=quadPos;
|
||||
}
|
||||
|
||||
}
|
||||
else if (inChar == 'g')
|
||||
{
|
||||
timeElapsedTicks = 0;
|
||||
dir = 1.0;
|
||||
isProfileEn = true;
|
||||
}
|
||||
else if (inChar == 'p')
|
||||
{
|
||||
isPrinting = !isPrinting;
|
||||
}
|
||||
else if (inChar == 'f')
|
||||
{
|
||||
isFrictionCompensated = !isFrictionCompensated;
|
||||
if (isFrictionCompensated) Serial.println(F("Stiction Comp Enabled"));
|
||||
}
|
||||
else if (inChar == 't')
|
||||
{
|
||||
isTrapezoid = !isTrapezoid;
|
||||
if (isTrapezoid) {
|
||||
Serial.println(F("Trapezoidal Reference"));
|
||||
}
|
||||
else {
|
||||
Serial.println(F("Step Reference"));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void initMotorPins()
|
||||
{ // configure pins as input or output
|
||||
pinMode(ENC2, INPUT); // Encoder A
|
||||
pinMode(ENC3, INPUT); // Encoder B
|
||||
pinMode(PWM_M1A_PIN, OUTPUT); // set motor PWM signal to output
|
||||
pinMode(PWM_M1B_PIN, OUTPUT); // set motor direction pin to output
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************
|
||||
void stepRefPos(float pos_rad) // step input velocity reference levels
|
||||
{
|
||||
static float refPos_last_time = 0;
|
||||
oldProfileEn = isProfileEn;
|
||||
if (timeElapsedTicks < 0) refVel = 0.0;
|
||||
else if (timeElapsedTicks < 40000) refPos = pos_rad;
|
||||
else if (timeElapsedTicks < 80) refPos = -pos_rad;
|
||||
else if (timeElapsedTicks < 100) refPos = 0.0;
|
||||
else isProfileEn = false;
|
||||
//refPos += refVel_last_time * TSAMP;
|
||||
//refVel_last_time = refVel;
|
||||
isShowStats = (oldProfileEn && !isProfileEn);
|
||||
}
|
||||
|
||||
//*********************************************************************
|
||||
void trapRefVel(float specDisp_rad, float specVel, float specAcc) // trap velocity profile
|
||||
{
|
||||
if (!oldProfileEn && isProfileEn)
|
||||
{
|
||||
//specDisp_rad = 300.0; specVel = 150.0; specAcc = 800.0;
|
||||
trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
dwellStartT = 10; dwellEndT = 10; specVdist = 0.0;
|
||||
|
||||
//specDisp_rad = 300.0, specVel = 100.0, specAcc = 200.0;
|
||||
//trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
//dwellStartT = 50, dwellEndT = 200; specVdist = 2.0;
|
||||
|
||||
//specDisp_rad = 206.9, specVel = 110.0, specAcc = 180.0;
|
||||
//trapBuildSymAcc(specDisp_rad, specVel, specAcc);
|
||||
//dwellGoT = 300, dwellUpT = 500, dwellEndT = 200; specVdist = abs(V_DIST);
|
||||
|
||||
// Times when speed changes
|
||||
T0 = dwellStartT;
|
||||
T1 = T0 + accT; T2 = T1 + platT; T3 = T2 + accT; T4 = T3 + dwellEndT;
|
||||
T5 = T4 + accT; T6 = T5 + platT; T7 = T6 + accT; T8 = T7 + dwellEndT;
|
||||
|
||||
//T0 = dwellGoT;
|
||||
//T1 = T0 + accT, T2 = T1 + platT, T3 = T2 + accT, T4 = T3 + dwellUpT;
|
||||
//T5 = T4 + accT, T6 = T5 + platT, T7 = T6 + accT, T8 = T7 + dwellEndT;
|
||||
|
||||
// Times when disturbances are applied and values
|
||||
D1 = T3 + 100; D2 = D1 + 200;
|
||||
dD1 = specVdist; dD2 = -specVdist;
|
||||
|
||||
//simJumpOn_simJumpOff();
|
||||
//simJumpOn_simFileOff();
|
||||
//weightOn_simJumpOff();
|
||||
//weightOn_simFileOff();
|
||||
}
|
||||
tick = timeElapsedTicks;
|
||||
// ---- Command profile -------------------------------------
|
||||
oldProfileEn = isProfileEn;
|
||||
if (tick < T0) refAcc = 0.0;
|
||||
else if (tick < T1) refAcc = dir * trapAcc;
|
||||
else if (tick < T2) refAcc = 0.0;
|
||||
else if (tick < T3) refAcc = -dir * trapAcc;
|
||||
else if (tick < T4) refAcc = 0.0;
|
||||
//else if (tick == T4) isProfileEn = false;
|
||||
|
||||
else if (tick < T5) refAcc = -dir * trapAcc;
|
||||
else if (tick < T6) refAcc = 0.0;
|
||||
else if (tick < T7) refAcc = dir * trapAcc;
|
||||
else if (tick < T8) refAcc = 0.0;
|
||||
else if (tick == T8) isProfileEn = false;
|
||||
|
||||
//---- Disturbance profile -----------------------------------
|
||||
if (tick < D1) Vdist = 0.0;
|
||||
else if (tick == D1) Vdist += dD1 * specVdist; // module, sim load
|
||||
else if (tick == D2) Vdist += dD2 * specVdist;
|
||||
else if (tick == D3) Vdist += dD3 * specVdist;
|
||||
else if (tick == D4) Vdist += dD4 * specVdist;
|
||||
else if (tick == D5) Vdist += dD5 * specVdist;
|
||||
else if (tick == D6) Vdist += dD6 * specVdist;
|
||||
else if (tick == D7) Vdist += dD7 * specVdist;
|
||||
else if (tick == D8) Vdist += dD8 * specVdist;
|
||||
|
||||
//---- Profile integration -----------------------------------
|
||||
if (isProfileEn) {
|
||||
refVel += refAcc * TSAMP;
|
||||
refPos += refVel * TSAMP;
|
||||
}
|
||||
else {
|
||||
refAcc = 0.0;
|
||||
refVel = 0.0;
|
||||
}
|
||||
|
||||
isShowStats = (oldProfileEn && !isProfileEn);
|
||||
}
|
||||
|
||||
//**************************************************************
|
||||
void trapBuildSymAcc(float Disp_rad, float Vplat, float Acc)
|
||||
{
|
||||
float tAcc = Vplat / Acc;
|
||||
float dAcc = Vplat * tAcc;
|
||||
float dPlat = Disp_rad - dAcc;
|
||||
float tPlat = dPlat / Vplat;
|
||||
|
||||
trapAcc = Acc; // acceleration rate
|
||||
accT = int(round(tAcc / TSAMP)); // time duration of acceleration
|
||||
platT = int(round(tPlat / TSAMP)); // time duration of constant speed
|
||||
float dTrap = (accT + platT) * TSAMP * Vplat; // total displacement during trapezoid profile
|
||||
|
||||
// Serial.println();
|
||||
// Serial.print("tAcc = "); Serial.println(tAcc);
|
||||
// Serial.print("dAcc = "); Serial.println(dAcc);
|
||||
// Serial.print("dPlat = "); Serial.println(dPlat);
|
||||
// Serial.print("tPlat = "); Serial.println(tPlat);
|
||||
// Serial.print("accT = "); Serial.println(accT);
|
||||
// Serial.print("platT = "); Serial.println(platT);
|
||||
// Serial.print("dTrap = "); Serial.println(dTrap);
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void closedLoopVelPI(boolean isFrictionCompensated, boolean isVff, float KpGain, float KiGain)
|
||||
{
|
||||
float Kp = KpGain;
|
||||
float Ki = KiGain;
|
||||
|
||||
Vffwd = ((SYS_B / SYS_A) * refVel + (1.0 / SYS_A) * refAcc);
|
||||
Vctl = PI_compensate(errVel, Kp, Ki); // PI control
|
||||
|
||||
if (isFrictionCompensated) {
|
||||
Vctl += VfrictionVelocity(refVel);
|
||||
}
|
||||
if (isVff) {
|
||||
Vctl += Vffwd;
|
||||
}
|
||||
Varm = Vctl;
|
||||
if (isModuleEn) driveMotor(Varm, mtrVel, mtrPos);
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void closedLoopPosPI(boolean isFrictionCompensated, boolean isVff, float KpGain, float KiGain)
|
||||
{
|
||||
float Kp = KpGain;
|
||||
float Ki = KiGain;
|
||||
|
||||
Vffwd = ((SYS_B / SYS_A) * refVel + (1.0 / SYS_A) * refAcc);
|
||||
Vctl = PI_compensate(errPos, Kp, Ki); // PI control
|
||||
|
||||
if (isFrictionCompensated) {
|
||||
Vctl += VfrictionVelocity(refVel);
|
||||
}
|
||||
if (isVff) {
|
||||
Vctl += Vffwd;
|
||||
}
|
||||
Varm = Vctl;
|
||||
if (isModuleEn) driveMotor(Varm, mtrVel, mtrPos);
|
||||
}
|
||||
|
||||
//********************************************************************
|
||||
void closedLoopPosPI_PZ(boolean isFrictionCompensated, boolean isVff, float KpGain, float KiGain, float CompC, float CompD)
|
||||
{
|
||||
float Kp = KpGain;
|
||||
float Ki = KiGain;
|
||||
|
||||
Vffwd = ((SYS_B / SYS_A) * refVel + (1.0 / SYS_A) * refAcc);
|
||||
Vctl = PI_compensate(errPos, Kp, Ki); // PI control
|
||||
Vctl = PD_compensate(Vctl, CompC, CompD); // PD control, signal, CompC, CompD)
|
||||
if (isFrictionCompensated) {
|
||||
Vctl += VfrictionVelocity(refVel);
|
||||
}
|
||||
if (isVff) {
|
||||
Vctl += Vffwd;
|
||||
}
|
||||
Varm = Vctl;
|
||||
if (isModuleEn) driveMotor(Varm, mtrVel, mtrPos);
|
||||
//Serial.println(micros()-lastmicroseconds);
|
||||
}
|
||||
|
||||
//**************************************************************
|
||||
float PI_compensate(float x, float Kp, float Ki)
|
||||
{
|
||||
// Implement (Kp s+Ki)/s as Kp + Ki/s.
|
||||
static float Integralx = 0.0;
|
||||
Integralx += x * TSAMP;
|
||||
float ypi = Kp * x + Ki * Integralx;
|
||||
// Apply integral compensator windup clipping.
|
||||
return ypi;
|
||||
}
|
||||
|
||||
|
||||
//********************************************************************
|
||||
void driveMotor(float Varm, float &vel, float &disp_rad)
|
||||
{
|
||||
// 8 bit PWM, ~5 volt rail
|
||||
// note: reversed sign of Varm to get positive speed for positive volts
|
||||
float pwm_command = -Varm * PWM_PER_VOLT;
|
||||
|
||||
if (pwm_command < 0) { // negative case -- set direction CW
|
||||
pwm_command = - int(pwm_command);
|
||||
OCR2A = 0;
|
||||
OCR2B = constrain(pwm_command, 0, 255);
|
||||
//Serial.println(OCR2B);
|
||||
}
|
||||
else
|
||||
{ //positive case -- set direction CW
|
||||
pwm_command = int(pwm_command);
|
||||
OCR2B = 0;
|
||||
OCR2A = constrain(pwm_command, 0, 255);
|
||||
//Serial.println(OCR2A);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
12
lab6/section1.m
Normal file
12
lab6/section1.m
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
s=tf('s');
|
||||
a=1800.0;
|
||||
b=6.0;
|
||||
Gpy=a/(s+b);
|
||||
Gpp=a/(s*(s+b));
|
||||
|
||||
figure(1)
|
||||
step(Gpy);
|
||||
title("Motor Speed Step Response")
|
||||
figure(2)
|
||||
step(Gpp);
|
||||
title("Motor Position Step Response")
|
||||
BIN
lab6/section1Position.png
Normal file
BIN
lab6/section1Position.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 35 KiB |
BIN
lab6/section1Speed.png
Normal file
BIN
lab6/section1Speed.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 40 KiB |
20
lab6/section2.m
Normal file
20
lab6/section2.m
Normal file
|
|
@ -0,0 +1,20 @@
|
|||
s=tf('s');
|
||||
a=1800.0;
|
||||
b=6.0;
|
||||
Gpv=a/(s+b);
|
||||
Gpp=a/(s*(s+b));
|
||||
|
||||
Kp=0.16;
|
||||
Ki=0.1;
|
||||
H=1;
|
||||
Gc=(s*Kp+Ki)/s;
|
||||
|
||||
TFv=feedback(Gc*Gpv,H);
|
||||
figure(3);
|
||||
step(TFv);
|
||||
title("Closed Loop Motor Velocity Step Response")
|
||||
|
||||
TFp=feedback(Gpp*(Gc),H);
|
||||
figure(4);
|
||||
step(TFp);
|
||||
title("Closed Loop Motor Velocity Step Response")
|
||||
BIN
lab6/section2Position.png
Normal file
BIN
lab6/section2Position.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 54 KiB |
BIN
lab6/section2Speed.png
Normal file
BIN
lab6/section2Speed.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 45 KiB |
31
lab6/section3.m
Normal file
31
lab6/section3.m
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
s=tf('s');
|
||||
a=1800.0;
|
||||
b=6.0;
|
||||
Gpv=a/(s+b);
|
||||
Gpp=a/(s*(s+b));
|
||||
|
||||
Kp=0.05;
|
||||
Ki=0.0001;
|
||||
H=1;
|
||||
Gc=(s*Kp+Ki)/s;
|
||||
|
||||
TFv=feedback(Gc*Gpv,H);
|
||||
|
||||
TFp=feedback(Gpp*(Gc),H);
|
||||
|
||||
% Part 3
|
||||
figure(5);
|
||||
t=0:0.02:4; % time vector: start, step, stop
|
||||
vel_ref = arrayfun(@trapezoidalRef,t); % make trapezoidal reference
|
||||
[pos_ref,t]=lsim(1/s,vel_ref,t); % make position reference
|
||||
[y,t]=lsim(TFp,pos_ref,t); % linear simulation
|
||||
|
||||
plot(t,y)
|
||||
hold on
|
||||
plot(t,pos_ref)
|
||||
title('trapezoidal reference response')
|
||||
plot(t,vel_ref)
|
||||
pos_err=pos_ref-y;
|
||||
plot(t,150*Kp*pos_err)% scale by 50
|
||||
hold off
|
||||
|
||||
BIN
lab6/section3.png
Normal file
BIN
lab6/section3.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 95 KiB |
53
lab6/section4.m
Normal file
53
lab6/section4.m
Normal file
|
|
@ -0,0 +1,53 @@
|
|||
s=tf('s');
|
||||
a=1800.0;
|
||||
b=6.0;
|
||||
Gpv=a/(s+b);
|
||||
Gpp=a/(s*(s+b));
|
||||
|
||||
Kp=0.5;
|
||||
Ki=0.001;
|
||||
H=1;
|
||||
Gc=(s*Kp+Ki)/s;
|
||||
|
||||
TFv=feedback(Gc*Gpv,H);
|
||||
|
||||
TFp=feedback(Gpp*(Gc),H);
|
||||
|
||||
% Part 3
|
||||
t=0:0.002:4; % time vector: start, step, stop
|
||||
vel_ref = arrayfun(@trapezoidalRef,t); % make trapezoidal reference
|
||||
[pos_ref,t]=lsim(1/s,vel_ref,t); % make position reference
|
||||
[y,t]=lsim(TFp,pos_ref,t); % linear simulation
|
||||
pos_err=pos_ref-y;
|
||||
|
||||
% Part 4 Pole zero compensator
|
||||
C=5.625;
|
||||
D=20;
|
||||
Gpz= (D/C)*(s+C)/(s+D);
|
||||
TFppz=feedback(Gc*Gpz*Gpp,H); % Find transfer function of closed loop feedback with pole-zero comp
|
||||
figure(6);
|
||||
step(TFppz);
|
||||
|
||||
% digital controller delay model
|
||||
Td=0.000268; % controller sample delay as measured in Arduino
|
||||
%Td=0.020268; % worst case delay with poor design of software
|
||||
%Gd=(1-(Td/2)*s)/(1+(Td/2)*s); % Digital delay - pade delay approximation
|
||||
%Gd=1/(1+(Td/2)*s); % Digital delay-single pole approximation
|
||||
Gd=exp(-Td*s); % time delay model
|
||||
% ref: https://www.mathworks.com/help/control/ug/time-delay-approximation-in-continuous-time-open-loop-model.html
|
||||
|
||||
|
||||
TF=feedback(Gc*Gd*Gpp,H); % can use this for feedback only or connect method below
|
||||
|
||||
figure(7);
|
||||
[y,t]=lsim(TFppz,pos_ref,t); % linear simulation
|
||||
plot(t,y)
|
||||
hold on
|
||||
plot(t,pos_ref)
|
||||
title('trapezoidal reference response')
|
||||
plot(t,vel_ref)
|
||||
pos_err=pos_ref-y;
|
||||
plot(t,150*Kp*pos_err)% scale by 150
|
||||
hold off
|
||||
|
||||
|
||||
BIN
lab6/section4refResponse.png
Normal file
BIN
lab6/section4refResponse.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
BIN
lab6/section4stepResponse.png
Normal file
BIN
lab6/section4stepResponse.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 44 KiB |
30
lab6/trapezoidalRef.m
Normal file
30
lab6/trapezoidalRef.m
Normal file
|
|
@ -0,0 +1,30 @@
|
|||
function input = trapezoidalRef(t)
|
||||
accel_rate=1500;
|
||||
plateau=600;
|
||||
start_delay=0.1;
|
||||
displacement=700;
|
||||
dead_time=1;
|
||||
middle_delay=0.1;
|
||||
time_plat=(displacement-(plateau/accel_rate)*plateau)/plateau;
|
||||
if t<start_delay
|
||||
input=0;
|
||||
elseif (t<(start_delay+plateau/accel_rate))
|
||||
input=(t-start_delay)*accel_rate;
|
||||
elseif (t<(start_delay+plateau/accel_rate)+time_plat)
|
||||
input=plateau;
|
||||
elseif (t<(start_delay+plateau/accel_rate)+time_plat+plateau/accel_rate);
|
||||
input=plateau-accel_rate*(t-start_delay-time_plat-plateau/accel_rate);
|
||||
elseif (t<(start_delay+plateau/accel_rate)+time_plat+plateau/accel_rate+middle_delay)
|
||||
input=0;
|
||||
elseif (t<(start_delay+plateau/accel_rate)+time_plat+plateau/accel_rate+middle_delay+plateau/accel_rate)
|
||||
temp=(start_delay+plateau/accel_rate+time_plat+plateau/accel_rate+middle_delay);
|
||||
input =-(t-temp)*accel_rate;
|
||||
elseif (t<(start_delay+plateau/accel_rate)+time_plat+plateau/accel_rate+middle_delay+plateau/accel_rate+time_plat)
|
||||
input =-plateau;
|
||||
elseif (t<(start_delay+plateau/accel_rate)+time_plat+plateau/accel_rate+middle_delay+plateau/accel_rate+time_plat+plateau/accel_rate)
|
||||
input =-plateau+accel_rate*(t-start_delay-time_plat-plateau/accel_rate-middle_delay-plateau/accel_rate-time_plat-plateau/accel_rate);
|
||||
else
|
||||
input=0;
|
||||
end
|
||||
end
|
||||
|
||||
30
simulationOfSystem.m
Normal file
30
simulationOfSystem.m
Normal file
|
|
@ -0,0 +1,30 @@
|
|||
clear all;clc;
|
||||
s=tf('s');
|
||||
%Motor Position Control System
|
||||
KpPos=0.2;
|
||||
a=2491.5;
|
||||
b=8.333;
|
||||
Cpos=5.625;
|
||||
Dpos=20;
|
||||
Gcpos=KpPos*(Dpos/Cpos)*((s+Cpos)/(s+Dpos));
|
||||
Gppos=a/(s*(s+b));
|
||||
Hpos=1;
|
||||
TFpos=feedback(Gcpos*Gppos,Hpos);
|
||||
|
||||
% Ball Position Control System
|
||||
alpha=5.0/18.0;
|
||||
KpBallDist=1;
|
||||
g=9.8;
|
||||
CBallDist = 1;
|
||||
DBallDist = 6;
|
||||
GcDist=(DBallDist/CBallDist)*((s+CBallDist)/(s+DBallDist));
|
||||
GPlant= (alpha * g)/s^2;
|
||||
GBallDist = KpBallDist* TFpos * GPlant;%GcDist *
|
||||
HBallDist = GcDist;
|
||||
TFBall=feedback(GBallDist, HBallDist);
|
||||
|
||||
|
||||
%Bode Analysis
|
||||
figure(1);step(TFBall);grid on;title("Step Response of Closed Loop System");hold on;
|
||||
figure(2);bode(TFBall);grid on;title("Closed Loop Transfer Function");hold on;
|
||||
figure(3);bode(GBallDist*HBallDist);grid on;title("Open Loop GH Gain");hold on;
|
||||
Loading…
Add table
Add a link
Reference in a new issue