DC motor control program using TA7291P type H bridge driver and rotary encoder with A, B phase.
Dependencies: QEI mbed-rtos mbed
Fork of DCmotor by
Revision 12:459af534d1ee, committed 2013-01-04
- Comitter:
- kosaka
- Date:
- Fri Jan 04 12:00:48 2013 +0000
- Parent:
- 11:9747752435d1
- Child:
- 13:ba71733c11d7
- Commit message:
- DC motor control program using TA7291P type H bridge driver and rotary encoder with A, B phase.;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Hbridge.cpp Fri Jan 04 12:00:48 2013 +0000 @@ -0,0 +1,122 @@ +#include "mbed.h" +#include "controller.h" +#include "Hbridge.h" + +#define DEADTIME_US (unsigned long)(DEADTIME*1000000) // [us], deadtime to be set between plus volt. to/from minus + +Timeout pwm; + +DigitalOut pwm_upper = UPPER_PORT; +DigitalOut pwm_lower = LOWER_PORT; + +pwm_parameters IN; // UVW pwm の定数、変数 + +DigitalOut debug_p24(p24); // p17 for debug +//DigitalOut Led3(LED3); + +#if PWM_WAVEFORM==0 // 0: saw tooth wave comparison + #if 1 +void pwm_out() { // pwm out using timer +//debug_p24=1; + IN.mode += 1; +//IN.duty=0.9;IN.fReverse[0]=1; + if( IN.fDeadtime==1 && IN.mode==1){ + pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us] + pwm_upper = 0; pwm_lower = 0; + IN.fDeadtime = 0; + IN.fReverse[1] = IN.fReverse[0]; + IN.mode = 0; + }else if( IN.mode==1 ){ + if( IN.fReverse[1]==0 ){ + pwm_upper = 1; pwm_lower = 0; + }else{ + pwm_upper = 0; pwm_lower = 1; + } + IN.upper_us = IN.duty*1000000/PWM_FREQ; // ON time of pwm + if( IN.upper_us < TMIN ){ IN.upper_us=TMIN;} + pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us] + IN.lower_us = 1000000/PWM_FREQ -IN.upper_us; // OFF time of pwm + if( IN.lower_us < TMIN ){ IN.lower_us=TMIN;} + }else{// if( IN.mode==2 ){ + pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us] + pwm_upper = 0; pwm_lower = 0; + IN.mode = 0; + } +//debug_p24=0; +} + #else +void pwm_out() { // pwm out using timer + IN.mode += 1; + if( IN.mode==1 ){ + pwm_upper = 1; + pwm_lower = 0; + IN.upper_us = IN.duty*1000000/PWM_FREQ - DEADTIME_US; // ON time of Uupper + if( IN.upper_us < TMIN ){ IN.upper_us=TMIN;} + pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us] + IN.lower_us = 1000000/PWM_FREQ -IN.upper_us - 2*DEADTIME_US; // ON time of Ulower + if( IN.lower_us < TMIN ){ IN.lower_us=TMIN;} + }else if( IN.mode==2 ){ + pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us] + pwm_upper = 0; + pwm_lower = 0; + }else if( IN.mode==3 ){ + pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us] + pwm_upper = 0; + pwm_lower = 1; + }else{// if( u.mode==4 ){ + pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us] + pwm_upper = 0; + pwm_lower = 0; + IN.mode = 0; + } +} + #endif +#elif PWM_WAVEFORM==1 // 1: triangler wave comparison +void pwm_out() { // pwm out using timer + IN.mode += 1; + if( IN.fDeadtime==1 && IN.mode==1){ + pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us] + pwm_upper = 0; pwm_lower = 0; + IN.fDeadtime = 0; + IN.fReverse[1] = IN.fReverse[0]; + IN.mode = 0; + }else if( IN.mode==1 ){ + IN.upper_us = IN.duty*1000000/PWM_FREQ; // ON time of Uupper + IN.lower_us = 1000000/PWM_FREQ -IN.upper_us; // ON time of Ulower + IN.lower_us /= 2; + if( IN.lower_us < TMIN ){ IN.lower_us=TMIN;} + pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us] + if( IN.upper_us < TMIN ){ IN.upper_us=TMIN;} + pwm_upper = 0; pwm_lower = 0; + }else if( IN.mode==2 ){ + pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us] + if( IN.fReverse[1]==0 ){ + pwm_upper = 1; pwm_lower = 0; + }else{ + pwm_upper = 0; pwm_lower = 1; + } + }else{// if( IN.mode==3 ){ + pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us] + pwm_upper = 0; pwm_lower = 0; + IN.mode = 0; + } +} +#endif + + +void start_pwm(){ + IN.duty = 0.0; + pwm_upper = pwm_lower = 0; + IN.mode = 0; + IN.fDeadtime = 1; + IN.fReverse[0] = 0; + + pwm_out(); +} + +void stop_pwm(){ + IN.duty = 0.0; + pwm_upper = pwm_lower = 0; + IN.mode = 0; + pwm.detach(); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Hbridge.h Fri Jan 04 12:00:48 2013 +0000 @@ -0,0 +1,25 @@ +#ifndef __Hbridge_h +#define __Hbridge_h + +//************* User setting parameters (begin) ***************** +//#define PWM_FREQ 0.5 //[Hz], pwm freq. +//#define DEADTIME 0.2 // [s], deadtime to be set between plus volt. to/from minus +#define UPPER_PORT p21//LED1 // port for U phase upper arm +#define LOWER_PORT p22 // port for U phase lower arm +#define PWM_WAVEFORM 0 // 0: saw tooth wave comparison, 1: triangler wave comparison +#define TMIN 5 // [us], processing time of pwm_out() +//************* User setting parameters (end) ***************** + +typedef struct struct_pwm_parameters{ // parameters of H bridge pwm + float duty; // 0-1, duty of H bridge + unsigned char mode; // mode + long upper_us; // [us], time + long lower_us; // [us], time + unsigned char fReverse[2]; // reverse direction? + unsigned char fDeadtime; // set deadtime? (v is plus to/from minus?) +}pwm_parameters; +extern pwm_parameters IN; // H bridge pwm の定数、変数 + +extern void start_pwm(); +extern void stop_pwm(); +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/controller.cpp Fri Jan 04 12:00:48 2013 +0000 @@ -0,0 +1,296 @@ +// BLDCmotor.cpp: 各種3相同期モータに対するセンサあり運転のシミュレーション +// Kosaka Lab. 121215 +#include "mbed.h" +#include "QEI.h" + +#include "controller.h" +#include "Hbridge.h" +Serial pc(USBTX, USBRX); // Display on tera term in PC + +motor_parameters p; // モータの定数、信号など +current_loop_parameters il; // 電流制御マイナーループの定数、変数 +velocity_loop_parameters vl; // 速度制御メインループの定数、変数 + +QEI encoder (CH_A, CH_B, NC, N_ENC, QEI::X4_ENCODING); +// QEI(PinName channelA, mbed pin for channel A input. +// PinName channelB, mbed pin for channel B input. +// PinName index, mbed pin for channel Z input. (index channel input Z phase th=0), (pass NC if not needed). +// int pulsesPerRev, Number of pulses in one revolution(=360 deg). +// Encoding encoding = X2_ENCODING, X2 is default. X2 uses interrupts on the rising and falling edges of only channel A where as +// X4 uses them on both channels. +// ) +// void reset (void) +// Reset the encoder. +// int getCurrentState (void) +// Read the state of the encoder. +// int getPulses (void) +// Read the number of pulses recorded by the encoder. +// int getRevolutions (void) +// Read the number of revolutions recorded by the encoder on the index channel. +/*********** User setting for control parameters (end) ***************/ + +AnalogOut analog_out(DA_PORT); +AnalogIn VshuntR_Uplus(p19); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A] +AnalogIn VshuntR_Uminus(p20); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A] +AnalogIn VshuntR_Vplus(p16); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A] +AnalogIn VshuntR_Vminus(p17); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A] + +unsigned long _count; // sampling number +float _time; // time[s] +float debug[20]; // for debug +float disp[10]; // for printf to avoid interrupted by quicker process +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); + +#ifdef GOOD_DATA +float data[1000][5]; // memory to save data offline instead of "online fprintf". +unsigned int count3; // +unsigned int count2=(int)(TS2/TS0); // +unsigned short _count_data=0; +#endif +DigitalOut debug_p26(p26); // p17 for debug +DigitalOut debug_p25(p25); // p17 for debug +//DigitalOut debug_p24(p24); // p17 for debug +//AnalogIn VCC(p19); // *3.3 [V], Volt of VCC for motor +//AnalogIn VCC2(p20); // *3.3 [V], Volt of (VCC-R i), R=2.5[Ohm]. R is for preventing too much i when deadtime is failed. + +unsigned short f_find_origin; // flag to find the origin of the rotor angle theta + +#if 1 //BUG!! if move sqrt2 to fast_math.h, sim starts and completed without working!? +float sqrt2(float x){ // √xのx=1まわりのテイラー展開 √x = 1 + 1/2*(x-1) -1/4*(x-1)^2 + ... +// return((1+x)*0.5); // 一次近似 + return(x+(1-x*x)*0.25); // 二次近似 +} +#endif + +void init_parameters(){ // IPMSMの機器定数等の設定, 制御器の初期化 +#ifdef SIMULATION + p.L = 0.0063; // H + p.R = 0.143; // Ω + p.phi = 0.176; // V s + p.Jm = 0.00018; // Nms^2 + p.p = 2; // 極対数 +#endif + p.th[0] = p.th[1] = 0; + p.w = 0; + p.i = 0; + p.v =0; + + p.w = 0; + + // 制御器の初期化 + vl.i_ref=0; // 電流指令[A] + vl.w_lpf = 0; // 検出した速度[rad/s] + vl.eI_w = 0; // 速度制御用偏差の積分値(積分項) + il.eI_i = 0; // 電流制御用偏差の積分値(積分項) +#ifndef SIMULATION + encoder.reset(); // set encoder counter zero + p.th[0] = p.th[1] = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder +#endif +} + +void idq_control(){ +// dq座標電流PID制御器(電流マイナーループのフィードバック制御) +// 入力:指令電流 i_ref [A], 実電流 p.i [A], PI制御積分項 eI, サンプル時間 TS0 [s] +// 出力:電圧指令 v_ref [A] + float e; + +//debug[0]=il.i_ref; + // dq電流偏差の計算 + e = il.i_ref - p.i; + + // dq電流偏差の積分項の計算 + il.eI_i = il.eI_i + TS0*e; + + // PI制御 + il.v_ref = iKP*e + iKI*il.eI_i; + +} + +void current_loop(){ // 電流制御マイナーループ + // 電流センサによってiu, iv を検出 +#ifndef SIMULATION + p.i = (VshuntR_Uplus - VshuntR_Uminus) /R_SHUNT; // get i [A] from shunt resistance; +#endif +//debug[0]=p.i; + // dq電流制御(電流フィードバック制御) +debug[0]=il.i_ref; +#ifdef USE_CURRENT_CONTROL + idq_control(); +#else + il.v_ref = il.i_ref/iMAX*vMAX; +#endif + // 電圧指令の大きさをMAX制限 + // anti-windup: if u=v_ref is saturated, then reduce eI. + if( il.v_ref > vMAX ){ + il.eI_i -= (il.v_ref - vMAX)/iKI; if( il.eI_i<0 ){ il.eI_i=0;} + il.v_ref = vMAX; + }else if( il.v_ref < -vMAX ){ + il.eI_i -= (il.v_ref + vMAX)/iKI; if( il.eI_i>0 ){ il.eI_i=0;} + il.v_ref = -vMAX; + } + p.v = il.v_ref; + + p.th[1] = p.th[0]; // thを更新 +} + + +void vel_control(){ +// 速度制御器:速度偏差が入力され、q軸電流指令を出力。 +// 入力:指令速度 w_ref [rad/s], 実速度 w_lpf [rad/s], PI制御積分項 eI, サンプル時間 TS1 [s] +// 出力:電流指令 i_ref [A] + float e; + + // 速度偏差の計算 + e = vl.w_ref - vl.w_lpf; + + // 速度偏差の積分値の計算 + vl.eI_w = vl.eI_w + TS1*e; + + // PI制御 + vl.i_ref = wKp*e + wKi*vl.eI_w; +} + +void velocity_loop(){ // 速度制御メインループ(w_ref&beta_ref to idq_ref) + float tmp; + + // 速度ωを求めるために、位置θをオイラー微分して、一次ローパスフィルタに通す。 +#if 1 + tmp = p.th[0]-p.th[1]; + while( tmp> PI ){ tmp -= 2*PI;} + while( tmp<-PI ){ tmp += 2*PI;} + vl.w_lpf = iLPF*vl.w_lpf + tmp/TS0 *(1-iLPF); +#else + vl.w_lpf = p.th[0]; +#endif + // 速度制御:速度偏差が入力され、電流指令を出力。 + vel_control(); + + // 電流指令のMAX制限(異常に大きい指令値を制限する) + // anti-windup: if u=i_ref is saturated, then reduce eI. + if( vl.i_ref > iMAX ){ + vl.eI_w -= (vl.i_ref - iMAX)/wKi; if( vl.eI_w<0 ){ vl.eI_w=0;} + vl.i_ref = iMAX; + }else if( vl.i_ref < -iMAX ){ + vl.eI_w -= (vl.i_ref + iMAX)/wKi; if( vl.eI_w>0 ){ vl.eI_w=0;} + vl.i_ref = -iMAX; + } +//debug[0]=vl.eI_w; + + // 電流の目標値を速度制御メインループから電流制御マイナーループへ渡す。 + il.i_ref = vl.i_ref; +//debug[0]=il.i_ref; +} + +void v2Hbridge(){ // vより、PWMを発生 + float duty; + +// duty = (p.v/vMAX+1)*0.5; +// IN.duty = duty; + duty = p.v/vMAX; + if( duty>=0 ){ + IN.duty = duty; + if( IN.fReverse[0]==1 ){ + IN.fDeadtime = 1; + } + IN.fReverse[0] = 0; + }else{ + IN.duty = -duty; + if( IN.fReverse[0]==0 ){ + IN.fDeadtime = 1; + } + IN.fReverse[0] = 1; + } +} + +#ifdef SIMULATION +void sim_motor(){ +// モータシミュレータ +// 入力信号:電圧p.v [V]、負荷トルクp.TL [Nm] +// 出力信号:モータ角度p.th[0] [rad], モータ速度p.w [rad/s], モータ電流p.i [A] + float i_dot, Tall, TL; +analog_out=p.v/100.+0.5;//debug +//debug[0]=p.v; + // get i + i_dot = (1.0/p.L) * ( p.v - (p.R*p.i + p.w*p.phi) ); + p.i = p.i + TS0*i_dot; + + // モータトルクの計算 + p.Tm = p.p * p.phi * p.i; + + // モータ速度ωの計算 + if( abs(p.w) > 5*2*PI ) + if( p.w>=0 ) TL= p.TL; + else TL=-p.TL; + else + TL = p.w/(5*2*PI)*p.TL; + + Tall = p.Tm - TL; + p.w = p.w + TS0 * (1.0 / p.Jm) * Tall; + + // モータ角度θの計算 + p.th[0] = p.th[0] + TS0 * p.w; + if( p.th[0]>2*PI) + p.th[0] = p.th[0] - 2*PI; + + if( p.th[0]<0 ) + p.th[0] = p.th[0] + 2*PI; +//debug[0]=p.v; +} +#endif + +void data2mbedUSB(){ // save data to mbed USB drive + if( _count_data<1000 ){ + data[_count_data][0]=p.th[0]/*vl.w_ref*/; data[_count_data][1]=debug[0]; + data[_count_data][2]=vl.w_lpf; data[_count_data][3]=_count*TS0; data[_count_data][4]=il.v_ref; + _count_data++; + } +#if 0 + if( _count_data<500 ){ + debug[0]=p.vab[0]; debug[1]=p.vab[1]; debug[2]=il.vdq_ref[0]; debug[3]=il.vdq_ref[1]; debug[4]=p.iab[0]; + debug[5]=p.iab[1]; debug[6]=p.vuvw[0]; debug[7]=p.vuvw[1]; debug[8]=p.vuvw[2]; debug[9]=p.iuvw[0]; + debug[10]=p.iuvw[1]; debug[11]=p.iuvw[2]; debug[12]=p.idq[0]; debug[13]=p.idq[1]; debug[14]=p.TL; + debug[15]=p.Tm; debug[16]=p.w; debug[17]=vl.w_lpf; debug[18]=p.th[0]; debug[19]=_count*TS0;//_time; +//BUG for(j=0;j<19;j++){ fprintf( fp, "%f, ",debug[j]);} fprintf( fp, "%f\n",debug[19]); + for(j=0;j<19;j++){ printf("%f, ",debug[j]);} printf("%f\n",debug[19]); +// for(j=0;j<19;j++){ pc.printf("%f, ",debug[j]);} pc.printf("%f\n",debug[19]); + } +#endif +} +void timerTS0(){ // timer called every TS0[s]. + debug_p26 = 1; + _count++; + _time += TS0; + + current_loop(); // 電流制御マイナーループ(i_ref to volt) + v2Hbridge(); // volt. to Hbridge + #ifdef SIMULATION +//debug[0]=p.v; + // モータシミュレータ + sim_motor(); // IPM, dq座標 + #else + p.th[1] = p.th[0]; + p.th[0] = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder + #endif + debug_p26 = 0; +} +void timerTS1(void const *argument){ + debug_p25 = 1; + velocity_loop(); // 速度制御メインループ(w_ref&beta_ref to idq_ref) + debug_p25 = 0; +} + +void display2PC(){ // display to tera term on PC + pc.printf("%8.1f[s]\t%8.2f[V]\t%8.2f [Hz]\t%8.2f\t%8.2f\r\n", _time, il.v_ref, vl.w_lpf/(2*PI), vl.w_ref/(2*PI), debug[0]); // print to tera term +// pc.printf("%8.1f[s]\t%8.5f[V]\t%4d [deg]\t%8.2f\r\n", _time, _u, (int)(_th/(2*PI)*360.0), _r);//debug[0]*3.3/R_SHUNT); // print to tera term +} +void timerTS2(){ +} +void timerTS3(){ + data2mbedUSB(); // data2mbedUSB() is called every TS3[s]. +} +void timerTS4(){ + display2PC(); // display to tera term on PC. display2PC() is called every TS4[s]. +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/controller.h Fri Jan 04 12:00:48 2013 +0000 @@ -0,0 +1,106 @@ +#ifndef __controller_h +#define __controller_h + +#define PI 3.14159265358979 // def. of PI +/*********** User setting for control parameters (begin) ***************/ +//#define SIMULATION // Comment this line if not simulation +//#define USE_CURRENT_CONTROL // Current control on. Comment if current control off. +#define CONTROL_MODE 0 // 0:PID control, 1:Frequency response, 2:Step response, 3. u=Rand to identify G(s), 4) FFT identification +#define DEADZONE_PLUS 0//1. // deadzone of plus side +#define DEADZONE_MINUS 0//-1.5 // deadzone of minus side +#define GOOD_DATA // Comment this line if the length of data TMAX/TS2 > 1000 + // encoder +#define N_ENC (24*4) // "*4": QEI::X4_ENCODING. Number of pulses in one revolution(=360 deg) of rotary encoder. +#define CH_A p29 // A phase port +#define CH_B p30 // A phase port + +#define DA_PORT p18 // analog out (DA) port of mbed + +#define PWM_FREQ 20000.0 //[Hz], pwm freq. (> 1/(DEAD_TIME*10)) +#define DEADTIME 0.0001 // [s], deadtime to be set between plus volt. to/from minus +#define TS0 0.002//0.001 // [s], sampling time (priority highest: Ticker IRQ) of motor current i control PID using timer interrupt +#define TS1 0.002//0.01 // [s], sampling time (priority high: RtosTimer) of motor angle th PID using rtos-timer +#define TS2 0.2 // [s], sampling time (priority =main(): precision 4ms) to save data to PC using thread. But, max data length is 1000. +#define TS3 0.002 // [s], sampling time (priority low: precision 4ms) +#define TS4 0.2 // [s], sampling time (priority lowest: precision 4ms) to display data to PC tera term +//void timerTS1(void const *argument), CallTimerTS3(void const *argument), CallTimerTS4(void const *argument); +// RtosTimer RtosTimerTS1(timerTS1); // RtosTimer priority is osPriorityAboveNormal, just one above main() +// Thread ThreadTimerTS3(CallTimerTS3,NULL,osPriorityBelowNormal); +// Thread ThreadTimerTS4(CallTimerTS4,NULL,osPriorityLow); +#define TMAX 5.0 // [s], experiment starts from 0[s] to TMAX[s] + + // 電流制御マイナーループ +#define iKP 10./2 // 電流制御PIDのPゲイン +#define iKI 100./2 // 電流制御PIDのIゲイン + +#define vMAX 3.3 + + // 速度制御メインループ +#ifdef USE_CURRENT_CONTROL + #define wKp 0.05 // 速度制御PIDのPゲイン + #define wKi 2.50 // 速度制御PIDのIゲイン +#else + #define wKp 0.05 // 速度制御PIDのPゲイン + #define wKi 0.5//2.50 // 速度制御PIDのIゲイン +#endif + +#define iLPF 0.95 // 0-1, 速度に対する1次LPF; Low Pass Filter, G(z)=(1-a)/(z-a) +#define iMAX 3.3 // [A], q軸電流指令のMAX制限(異常に大きい指令値を制限する) + +#define R_SHUNT 1.25 // [Ohm], shunt resistanse +/*********** User setting for control parameters (end) ***************/ + + +typedef struct struct_motor_parameters{ + // モータの定数、信号など + #ifdef SIMULATION // シミュレーションのとき + float L; // [H], インダクタンス + float R; // [Ω], モータ巻線抵抗 + float phi; // [V s], 永久磁石の鎖交磁束 + float Jm; // [Nms^2], イナーシャ + float Tm; // [Nm], モータトルク + float TL; // [Nm], 負荷トルク + #endif + float th[2]; // [rad]. ロータの位置, th[0]=th(t), th[1]=th(t-TS0) + float w; // [rad/s], モータ速度 + float w_lpf; // [rad/s], フィルタで高周波ノイズを除去したモータ速度 + float i; // [A], αβ軸電流 iab = [iα;iβ]; + float v; // [V], motor 電圧 + float p; // 極対数 +}motor_parameters; + +typedef struct struct_current_loop_parameters{ + // 電流制御マイナーループの定数、変数 + float i_ref; // iの目標値 + float v_ref; // vdqの目標値 + float eI_i; // 電流制御用偏差の積分値(積分項) +}current_loop_parameters; + +typedef struct struct_velocity_loop_parameters{ + // 速度制御メインループの定数、変数 + float w_lpf; // [rad/s], モータ速度(LPF通過後) + float w_ref; // [rad/s], モータ目標速度 + float tan_beta_ref; // [rad], モータ電流位相 + float i_ref; // 電流指令[A] + float eI_w; // 速度制御用偏差の積分値(積分項) +}velocity_loop_parameters; + +extern void timerTS0(); // timer called every TS0[s]. +extern void timerTS1(void const *argument); // timer called every TS1[s]. +extern void timerTS2(); // timer called every TS2[s]. +extern void timerTS3(); // timer called every TS3[s]. +extern void timerTS4(); // timer called every TS4[s]. + +extern void init_parameters(); // IPMSMの機器定数等の設定, 制御器の初期化 + +extern unsigned long _count; // sampling number +extern float _time; // time[s] + +extern motor_parameters p; // モータの定数、信号など +extern current_loop_parameters il; // 電流制御マイナーループの定数、変数 +extern velocity_loop_parameters vl; // 速度制御メインループの定数、変数 + +extern float data[][5]; // memory to save data offline instead of "online fprintf". +extern unsigned short _count_data; // counter for data[1000][5] + +#endif \ No newline at end of file
--- a/main.cpp Thu Nov 29 09:25:56 2012 +0000 +++ b/main.cpp Fri Jan 04 12:00:48 2013 +0000 @@ -1,406 +1,66 @@ // DC motor control program using H-bridge driver (ex. TA7291P) and 360 resolution rotary encoder with A, B phase. -// ver. 121129a by Kosaka lab. +// ver. 121224 by Kosaka lab. #include "mbed.h" #include "rtos.h" -#include "QEI.h" -#define PI 3.14159265358979 // def. of PI -/*********** User setting for control parameters (begin) ***************/ -//#define SIMULATION // Comment this line if not simulation -#define USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0. Comment if use Vref=analog mode - #define PWM_FREQ 10000.0 //[Hz], pwm freq. available if USE_PWM is defined. -#define USE_CURRENT_CONTROL // Current control on. Comment if current control off. -#define CONTROL_MODE 0 // 0:PID control, 1:Frequency response, 2:Step response, 3. u=Rand to identify G(s), 4) FFT identification -#define DEADZONE_PLUS 1. // deadzone of plus side -#define DEADZONE_MINUS -1.5 // deadzone of minus side -#define GOOD_DATA // Comment this line if the length of data TMAX/TS2 > 1000 -//#define R_SIN // Comment this line if r=step, not r = sin -float _freq_u = 0.3; // [Hz], freq. of Frequency response, or Step response -float _rmax=100./180.*PI; // [rad], max. of reference signal -float _Kp4th=20; // P gain for PID from motor volt. to angle. -float _Ki4th=20; // I gain for PID from motor volt. to angle. -float _Kd4th=5; // D gain for PID from motor volt. to angle. -float _Kp4i=10.0; // P gain for PID from motor volt. to motor current. -float _Ki4i=10.0; // I gain for PID from motor volt. to motor current. -float _Kd4i=0.0; // D gain for PID from motor volt. to motor current. -#define iTS 0.0001 // [s], iTS, sampling time[s] of motor current i control PID using timer interrupt -#define thTS 0.001 // [s], thTS>=0.001[s], sampling time[s] of motor angle th PID using rtos-timer -#define TS2 0.01 // [s], TS2>=0.001[s], sampling time[s] to save data to PC using thread. But, max data length is 1000. -#define TMAX 10 // [s], experiment starts from 0[s] to TMAX[s] -#define UMAX 3.3 // [V], max of control input u -#define UMIN -3.3 // [V], max of control input u -#define IMAX 0.5 // [A], max of motor current i -#define IMIN -0.5 // [A], max of motor current i -#define DEADTIME 0.0001 // [s], deadtime to be set between plus volt. to/from minus - // H bridge port setting -#define FIN_PORT p21 // FIN (IN1) port of mbed -#define RIN_PORT p22 // RIN (IN2) port of mbed -#define VREF_PORT p18 // Vref port of mbed (available if USE_PWM is not defined) -DigitalOut debug_p17(p17); // p17 for debug -AnalogIn v_shunt_r(p19); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A] -#define R_SHUNT 1.25 // [Ohm], shunt resistanse -//AnalogIn VCC(p19); // *3.3 [V], Volt of VCC for motor -//AnalogIn VCC2(p20); // *3.3 [V], Volt of (VCC-R i), R=2.5[Ohm]. R is for preventing too much i when deadtime is failed. -#define N_ENC (24*4) // "*4": QEI::X4_ENCODING. Number of pulses in one revolution(=360 deg) of rotary encoder. -QEI encoder (p29, p30, NC, N_ENC, QEI::X4_ENCODING); -// QEI(PinName channelA, mbed pin for channel A input. -// PinName channelB, mbed pin for channel B input. -// PinName index, mbed pin for channel Z input. (index channel input Z phase th=0), (pass NC if not needed). -// int pulsesPerRev, Number of pulses in one revolution(=360 deg). -// Encoding encoding = X2_ENCODING, X2 is default. X2 uses interrupts on the rising and falling edges of only channel A where as -// X4 uses them on both channels. -// ) -// void reset (void) -// Reset the encoder. -// int getCurrentState (void) -// Read the state of the encoder. -// int getPulses (void) -// Read the number of pulses recorded by the encoder. -// int getRevolutions (void) -// Read the number of revolutions recorded by the encoder on the index channel. -/*********** User setting for control parameters (end) ***************/ +#include "controller.h" +#include "Hbridge.h" -Serial pc(USBTX, USBRX); // Display on tera term in PC -LocalFileSystem local("local"); // save data to mbed USB disk drive in PC -//Semaphore semaphore1(1); // wait and release to protect memories and so on -//Mutex stdio_mutex; // wait and release to protect memories and so on -Ticker controller_ticker; // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer. - -#ifdef USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0. - PwmOut FIN(FIN_PORT); // PWM for FIN, RIN=0 when forward rotation. H bridge driver PWM mode - PwmOut RIN(RIN_PORT); // PWM for RIN, FIN=0 when reverse rotation. H bridge driver PWM mode -#else // H bridge Vref=analog mode - DigitalOut FIN(FIN_PORT);// FIN for DC motor H bridge driver. FIN=1, RIN=0 then forward rotation - DigitalOut RIN(RIN_PORT);// RIN for DC motor H bridge driver. FIN=0, RIN=1 then reverse rotation -#endif -AnalogOut analog_out(VREF_PORT);// Vref for DC motor H bridge driver. DA converter for control input [0.0-1.0]% in the output range of 0.0 to 3.3[V] - -unsigned long _count; // sampling number -float _time; // time[s] -float _r; // reference signal -float _th=0; // [rad], motor angle, control output of angle controller -float _i=0; // [A], motor current, control output of current controller -float _e=0; // e=r-y for PID controller -float _eI=0; // integral of e for PID controller -float _iref; // reference current iref [A], output of angle th_contorller -float _u; // control input[V], motor input volt. -float _ei=0; // e=r-y for current PID controller -float _eiI=0; // integral of e for current PID controller -unsigned char _f_u_plus=1;// sign(u) -unsigned char _f_umax=0;// flag showing u is max or not -unsigned char _f_imax=0;// flag showing i is max or not -float debug[10]; // for debug -float disp[10]; // for printf to avoid interrupted by quicker process -#ifdef GOOD_DATA -float data[1000][5]; // memory to save data offline instead of "online fprintf". -unsigned int count3; // -unsigned int count2=(int)(TS2/iTS); // -#endif +Serial pc2(USBTX, USBRX); // Display on tera term in PC +LocalFileSystem local("mbedUSBdrive"); // save data to mbed USB disk drive in PC +Ticker TickerTimerTS0; // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer. +unsigned char fTimerTS2ON=0, fTimerTS3ON=0, fTimerTS4ON=0; // ON/OFF flag for timerTS2, 3, 4. +//DigitalOut debug_p24(p24); // p17 for debug extern "C" void mbed_reset(); -void u2Hbridge(float u){// input u to H bridge driver - float duty; - unsigned int f_deadtime, f_in, r_in; - - if( u > 0 ){ // forward: rotate to plus - u += DEADZONE_PLUS; // deadzone compensation - duty = u/3.3; // Vref - if(_f_u_plus==0){ // if plus to/from minus, set FIN=RIN=0/1 for deadtime 100[us]. - f_deadtime = 1; // deadtime is required - _f_u_plus=1; - }else{ - f_deadtime = 0; // deadtime is required +void CallTimerTS2(void const *argument) { // make sampling time TS3 timer (priority 3: precision 4ms) + int ms; + unsigned long c; + while (true) { + c = _count; + if( fTimerTS2ON ){ + timerTS2(); // timerTS2() is called every TS2[s]. } - f_in=1; r_in=0; // set forward direction - }else if( u < 0 ){ // reverse: rotate to minus - u += DEADZONE_MINUS;// deadzone compensation - duty = -u/3.3; - if(_f_u_plus==1){ // if plus to/from minus, set FIN=RIN=0/1 for deadtime 100[us]. - f_deadtime = 1; // deadtime is required - _f_u_plus=0; - }else{ - f_deadtime = 0; // deadtime is required - } - f_in=0; r_in=1; // set reverse direction - }else{// if( u == 0 ){ // stop mode - duty = 0; - f_deadtime = 0; // deadtime is required - f_in=0; r_in=0; // set FIN & RIN - } - - if( f_deadtime==1 ){// making deadtime - FIN=0; RIN=0; // set upper&lower arm zero - wait(DEADTIME); + if( (ms=(int)(TS2*1000-(_count-c)*TS0*1000))<=0 ){ ms=1;} + Thread::wait(ms); } -#ifdef USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0 - FIN = duty*(float)f_in; RIN = duty*(float)r_in; // setting pwm FIN & RIN - analog_out = 1; // setting Vref=UMAX, but Vref=Vcc is better. -#else // Analog mode: Vref=analog, FIN, RIN = 1 or 0) - FIN = f_in; RIN = r_in; // setting FIN & RIN - analog_out = duty; // setting Vref : PID write DA, range is 0-1. Output voltage 0-3.3v -#endif -} - -void th_controller(void const *argument) { // if rtos. current controller & velocity controller - float e_old, wt; - float y, u; - -// y_old = _th; // y_old=y(t-TS) is older than y by 1 sampling time TS[s]. update data -#ifdef SIMULATION - y = _th + thTS/0.1*(0.2*_iref*100-_th); //=(1-TS/0.1)*_y + 0.2*TS/0.1*_iref; // G = 0.2/(0.1s+1) -#else -// semaphore1.wait(); // - y = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder -// semaphore1.release(); // -#endif -#define RMIN 0 - wt = _freq_u *2.0*PI*_time; - if(wt>2.0*PI){ wt -= 2.0*PI*(float)((int)(wt/(2.0*PI)));} - _r = sin(wt ) * (_rmax-RMIN)/2.0 + (_rmax+RMIN)/2.0; -//debug[0] =1; -#ifndef R_SIN - if( _r>=(_rmax+RMIN)/2.0 ) _r = _rmax; - else _r = 0; -#endif - e_old = _e; // e_old=e(t-TS) is older than e by 1 sampling time TS[s]. update data - _e = _r - y; // error e(t) - if( _e<((360.0/N_ENC)/180*PI) && _e>-((360.0/N_ENC)/180*PI) ){ // e is inside minimum precision? - _e = 0; - } - if( _f_imax==0 ){ // u is saturated? -// if( _e>((360.0/N_ENC)/180*PI) || _e<-((360.0/N_ENC)/180*PI) ){ // e is inside minimum precision? - _eI = _eI + thTS*_e; // integral of e(t) -// } - } - u = _Kp4th*_e + _Kd4th*(_e-e_old)/thTS + _Ki4th*_eI; // PID output u(t) - -#if CONTROL_MODE==1||CONTROL_MODE==2 // frequency response, or Step response - wt = _freq_u *2.0*PI*_time; - if(wt>2*PI) wt -= 2*PI*(float)((int)(wt/2.0*PI)); - u = sin(wt ) * (UMAX-UMIN)/2.0 + (UMAX+UMIN)/2.0; -#endif -#if CONTROL_MODE==2 // Step response - if( u>=0 ) u = UMAX; - else u = UMIN; -#endif -#if CONTROL_MODE==3 // u=rand() to identify motor transfer function G(s) from V to angle - if(count2==(int)(TS2/iTS)){ - u = ((float)rand()/RAND_MAX*2.0-1.0) * (UMAX-1.5)/2.0 + (UMAX+1.5)/2.0; - }else{ - u = _iref; - } -#endif -#if CONTROL_MODE==4 // FFT identification, u=repetive signal - if(count2==(int)(TS2/thTS)){ - u = data[count3][4]; - }else{ - u = _iref; - } -#endif - // u is saturated? for anti-windup - if( u>IMAX ){ - _eI -= (u-IMAX)/_Ki4th; if(_eI<0){ _eI=0;} - u = IMAX; -// _f_imax = 1; - } else if( u<IMIN ){ - _eI -= (u-IMIN)/_Ki4th; if(_eI>0){ _eI=0;} - u = IMIN; -// _f_imax = 1; - }else{ - _f_imax = 0; - } - //-------- update data - _th = y; - _iref = u; } -void i_controller() { // if ticker. current controller & velocity controller - void u2Hbridge(float); // input u to H bridge (full bridge) driver -#ifdef USE_CURRENT_CONTROL - float e_old; - float y, u; - -// _iref=_r*180/PI; // step response from v to i, useful to tune PID gains. - debug_p17 = 1; // for debug: processing time check -// if(debug_p17 == 1) debug_p17=0;else debug_p17=1; // for debug: sampling time check - - _count+=1; - // current PID controller - y = v_shunt_r/R_SHUNT; // get i [A] from shunt resistance - if(_f_u_plus==0){ y=-y;} - - e_old = _ei; // e_old=e(t-TS) is older than e by 1 sampling time TS[s]. update data - _ei = _iref - y; // error e(t) - if( _f_umax==0 ){ - _eiI = _eiI + iTS*_ei; // integral of e(t) - } - u = _Kp4i*_e + _Kd4i*(_ei-e_old)/iTS + _Ki4i*_eiI; // PID output u(t) - - // u is saturated? for anti-windup - if( u>UMAX ){ - _eiI -= (u-UMAX)/_Ki4i; if(_eiI<0){ _eiI=0;} - u = UMAX; -// _f_umax = 1; - } else if( u<UMIN ){ - _eiI -= (u-UMIN)/_Ki4i; if(_eiI>0){ _eiI=0;} - u = UMIN; -// _f_umax = 1; - }else{ - _f_umax = 0; - } - //-------- update data - _i = y; - _u = u; -#else - _u = _iref/IMAX*VMAX; // without current control. -#endif - - u2Hbridge(_u); // input u to TA7291 driver - - //-------- update data - _time += iTS; // time -debug[0]=v_shunt_r; if(_f_u_plus==0){ debug[0]=-debug[0];} -#ifdef GOOD_DATA - if(count2==(int)(TS2/iTS)){ -// j=0; if(_count>=j&&_count<j+1000){i=_count-j; data[i][0]=_r; data[i][1]=debug[0]; data[i][2]=_th; data[i][3]=_time; data[i][4]=_u;} - if( count3<1000 ){ - data[count3][0]=_r; data[count3][1]=debug[0]; data[count3][2]=_th; data[count3][3]=_time; data[count3][4]=_u; -// data[count3][0]=_iref; data[count3][1]=debug[0]; data[count3][2]=_i; data[count3][3]=_time; data[count3][4]=_u; - count3++; +void CallTimerTS3(void const *argument) { // make sampling time TS3 timer (priority 3: precision 4ms) + int ms; + unsigned long c; + while (true) { + c = _count; + if( fTimerTS3ON ){ + timerTS3(); // timerTS3() is called every TS3[s]. } - count2 = 0; - } - count2++; -#endif - //-------- update data - - debug_p17 = 0; // for debug: processing time check -} - -void main1() { - RtosTimer timer_controller(th_controller); - FILE *fp; // save data to PC -#ifdef GOOD_DATA - int i; - - count3=0; -#endif - u2Hbridge(0); // initialize H bridge to stop mode - _count=0; - _time = 0; // time - _eI = _eiI = 0; // reset integrater - encoder.reset(); // set encoder counter zero - _th = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder - _r = _r + _th; -// if( _r>2*PI ) _r -= _r-2*PI; - - pc.printf("Control start!!\r\n"); - if ( NULL == (fp = fopen( "/local/data.csv", "w" )) ){ error( "" );} // save data to PC -#ifdef USE_PWM - FIN.period( 1.0 / PWM_FREQ ); // PWM period [s]. Common to all PWM -#endif - controller_ticker.attach(&i_controller, iTS ); // Sampling period[s] of i_controller - timer_controller.start((unsigned int)(thTS*1000.)); // Sampling period[ms] of th controller - -// for ( i = 0; i < (unsigned int)(TMAX/iTS2); i++ ) { - while ( _time <= TMAX ) { - // BUG!! Dangerous if TS2<0.1 because multi interrupt by fprintf is not prohibited! 1st aug of fprintf will be destroyed. - // fprintf returns before process completed. -//BUG fprintf( fp, "%8.2f, %8.4f,\t%8.1f,\t%8.2f\r\n", disp[3], disp[1], disp[0], tmp); // save data to PC (para, y, time, u) -//OK? fprintf( fp, "%f, %f, %f, %f, %f\r\n", _time, debug[0], debug[3], (_y/(2*PI)*360.0),_u); // save data to PC (para, y, time, u) -#ifndef GOOD_DATA - fprintf( fp, "%f, %f, %f, %f, %f\r\n", _r, debug[0], _th, _time, _u); // save data to PC (para, y, time, u) -#endif - Thread::wait((unsigned int)(TS2*1000.)); //[ms] - } - controller_ticker.detach(); // timer interrupt stop - timer_controller.stop(); // rtos timer stop - u2Hbridge(0); // initialize H bridge to stop mode - _eI = _eiI = 0; // reset integrater -#ifdef GOOD_DATA - for(i=0;i<1000;i++){ fprintf( fp, "%f, %f, %f, %f, %f\r\n", data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]);} // save data to PC (para, y, time, u) -#endif - fclose( fp ); // release mbed USB drive - pc.printf("Control completed!!\r\n\r\n"); -} - -void thread_print2PC(void const *argument) { - while (true) { - pc.printf("%8.1f[s]\t%8.5f[V]\t%4d [deg]\t%8.2f\r\n", _time, _u, (int)(_th/(2*PI)*360.0), _r);//debug[0]*3.3/R_SHUNT); // print to tera term - Thread::wait(200); + if( (ms=(int)(TS3*1000-(_count-c)*TS0*1000))<=0 ){ ms=1;} + Thread::wait(ms); } } -void main2(void const *argument) { -#if CONTROL_MODE==0 // PID control - char f; - float val; -#endif -#if CONTROL_MODE==4 // FFT identification, u=repetive signal - int i, j; - float max_u; -#endif - - while(true){ -#if CONTROL_MODE==4 // FFT identification, u=repetive signal - max_u = 0; - for( i=0;i<1000;i++ ){ // u=data[i][4]: memory for FFT identification input signal. - data[i][4] = sin(_freq_u*2*PI * i*TS2); // _u_freq = 10/2 * i [Hz] - if( data[i][4]>max_u ){ max_u=data[i][4];} +void CallTimerTS4(void const *argument) { // make sampling time TS4 timer (priority 4: precision 4ms) + int ms; + unsigned long c; + while (true) { + c = _count; + if( fTimerTS4ON ){ + timerTS4(); // timerTS4() is called every TS4[s]. } - for( j=1;j<50;j++ ){ - for( i=0;i<1000;i++ ){ - data[i][4] += sin((float)(j+1)*_freq_u*2*PI * i*TS2); - if( data[i][4]>max_u ){ max_u=data[i][4];} - } - } - for( i=0;i<1000;i++ ){ -// data[i][4] *= UMAX/max_u; - data[i][4] = (data[i][4]/max_u+3)/4*UMAX; - } -#endif - main1(); + if( (ms=(int)(TS4*1000-(_count-c)*TS0*1000))<=0 ){ ms=1;} + Thread::wait(ms); + } +} -#if CONTROL_MODE>=1 // frequency response, or Step response - pc.printf("Input u(t) Frequency[Hz]? (if 9, reset mbed)..."); - pc.scanf("%f",&_freq_u); - pc.printf("%8.3f[Hz]\r\n", _freq_u); // print to tera term - if(_freq_u==9){ mbed_reset();} -#else // PID control -// #ifdef R_SIN -// pc.printf("Reference signal r(t) Frequency[Hz]?..."); -// pc.scanf("%f",&_freq_u); -// pc.printf("%8.3f[Hz]\r\n", _freq_u); // print to tera term -// #endif - pc.printf("th-loop: Kp=%f, Ki=%f, Kd=%f, r=%f[deg], %f Hz\r\n",_Kp4th, _Ki4th, _Kd4th, _rmax*180./PI, _freq_u); - pc.printf(" i-loop: Kp=%f, Ki=%f, Kd=%f\r\n",_Kp4i, _Ki4i, _Kd4i); - pc.printf("Which number do you like to change?\r\n ... 0)no change, 1)Kp, 2)Ki, 3)Kd, 4)r(t) freq.[Hz], 5)r(t) amp.[deg].\r\n 6)iKp, 7)iKi, 8)iKd, 9)reset mbed ?"); - f=pc.getc()-48; //int = char-48 - pc.printf("\r\n Value?... "); - if(f>=1&&f<=8){ pc.scanf("%f",&val);} - pc.printf("%8.3f\r\n", val); // print to tera term - if(f==1){ _Kp4th = val;} - if(f==2){ _Ki4th = val;} - if(f==3){ _Kd4th = val;} - if(f==4){ _freq_u = val;} - if(f==5){ _rmax = val/180.*PI;} - if(f==6){ _Kp4i = val;} - if(f==7){ _Ki4i = val;} - if(f==8){ _Kd4i = val;} - if(f==9){ mbed_reset();} - pc.printf("th-loop: Kp=%f, Ki=%f, Kd=%f, r=%f[deg], %f Hz\r\n",_Kp4th, _Ki4th, _Kd4th, _rmax*180./PI, _freq_u); - pc.printf(" i-loop: Kp=%f, Ki=%f, Kd=%f\r\n",_Kp4i, _Ki4i, _Kd4i); -#endif - } -} -int main() { -// void main1(); - Thread save2PC(main2,NULL,osPriorityBelowNormal); - Thread print2PC(thread_print2PC,NULL,osPriorityLow); - -// osStatus set_priority(osPriority osPriorityBelowNormal ); -// Priority of Thread (RtosTimer has no priority?) +//#define OLD +int main(){ + unsigned short i; + FILE *fp = fopen("/mbedUSBdrive/data.csv", "w"); // save data to PC + RtosTimer RtosTimerTS1(timerTS1); // RtosTimer priority is osPriorityAboveNormal, just one above main() + Thread ThreadTimerTS3(CallTimerTS3,NULL,osPriorityBelowNormal); + Thread ThreadTimerTS4(CallTimerTS4,NULL,osPriorityLow); +// Priority of Thread (RtosTimer is osPriorityAboveNormal) // osPriorityIdle = -3, ///< priority: idle (lowest)--> then, mbed ERROR!! // osPriorityLow = -2, ///< priority: low // osPriorityBelowNormal = -1, ///< priority: below normal @@ -409,4 +69,70 @@ // osPriorityHigh = +2, ///< priority: high // osPriorityRealtime = +3, ///< priority: realtime (highest) // osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority + + // 指令速度 + float w_ref_req[2] = {2* 2*PI, 4* 2*PI}; // [rad/s](第2要素は指令速度急変後の指令速度) + float t; // current time + + // IPMSMの機器定数等の設定, 制御器の初期化 + init_parameters(); + + // シミュレーション開始 + pc2.printf("Simulation start!!\r\n"); +#ifndef OLD + // start control (ON) + start_pwm(); + TickerTimerTS0.attach(&timerTS0, TS0 ); // Sampling period[s] of i_controller + RtosTimerTS1.start((unsigned int)(TS1*1000.)); // Sampling period[ms] of th controller + fTimerTS3ON = 1; // timerTS3 start + fTimerTS4ON = 1; // timerTS3 start +#endif + + while( (t = _count*TS0) < TMAX ){ +// debug_p24 = 1; + + // 速度急変 + if( 0.26<=t && t<2.3 ){ + vl.w_ref=w_ref_req[1]; // 目標速度をメインルーチンから速度制御メインループへ渡す。 + }else{ + vl.w_ref=w_ref_req[0]; + } +#ifdef SIMULATION + // 負荷トルク急変 + if( t<3.4 ){ + p.TL = 1; + }else{ + p.TL = 2; + } +#endif + +#ifdef OLD + if( (++i2)>=(int)(TS1/TS0) ){ i2=0; + timerTS1(&j); //velocity_loop(); // 速度制御メインループ(w_ref&beta_ref to idq_ref) + } +#endif + +#ifdef OLD + timerTS0(); +#endif + +// debug_p24 = 0; + Thread::wait(1); + } + // stop timers (OFF) + stop_pwm(); + TickerTimerTS0.detach(); // timer interrupt stop + RtosTimerTS1.stop(); // rtos timer stop + fTimerTS3ON=0;//ThreadTimerTS3.terminate(); // + fTimerTS4ON=0;//ThreadTimerTS4.terminate(); // + + // save data to mbed USB drive + for(i=0;i<_count_data;i++){ + fprintf( fp, "%f, %f, %f, %f, %f\r\n", + data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]); // save data to PC (para, y, time, u) + } + fclose( fp ); // release mbed USB drive + + Thread::wait(100); + pc2.printf("Control completed!!\r\n\r\n"); }