ヒロキ モリ
インクリメンタルエンコーダを使ったDCモータの速度制御プログラム
Dependencies: mbed QEI mbed-rtos motordriver SDFileSystem Encoder
Revision 0:ada8c03739c0, committed 2019-03-22
- Comitter:
- porizou3
- Date:
- Fri Mar 22 10:20:53 2019 +0000
- Commit message:
- commit;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Fri Mar 22 10:20:53 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/porizou3/code/Encoder/#6d62a5947f59
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Fri Mar 22 10:20:53 2019 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Fri Mar 22 10:20:53 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#8db0d3b02cec
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 22 10:20:53 2019 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "rtos.h"
+
+#include "Encoder.h"
+#include "SDFileSystem.h"
+#include "motordriver.h"
+
+#define V_CONTROL_CYCLE 0.01 //速度制御周期[s]
+
+#define Kp 0.03 //比例ゲイン
+#define Ki 0.578 //積分ゲイン
+
+#define Vmax 8.2 //モータの電源電圧[V]
+
+DigitalOut led(LED1);
+
+SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+Encoder Enc(p21, p22, 12, 0.001, 0.01);
+Motor motor(p25 , p23 , p24 , 10000);
+
+float accError = 0.0; //偏差の積分値
+float prevError = 0.0; //前回の偏差
+
+float Vref = 0.0; //速度の目標値[rad/s]
+float V = 0.0;
+
+double T = 0.0;
+
+
+/* 速度制御スレッド */
+void VelocityThread(void const *argument) {
+
+ V = -Enc.getVelocity(); //速度の値を取得[rad/s]
+
+ float Error = Vref - V; //偏差の計算
+
+ accError += (Error + prevError) / 2.0 * V_CONTROL_CYCLE; //偏差の積分値の計算
+
+ float Vout = Kp * Error + Ki * accError; //出力電圧を計算
+
+ motor.rotate(Vout / Vmax); //モータドライバに出力
+
+ prevError = Error;
+
+ T += V_CONTROL_CYCLE;
+}
+
+int main() {
+
+ //pc.baud(115200);
+
+ RtosTimer Velocity(VelocityThread); //速度制御
+
+ Velocity.start(V_CONTROL_CYCLE * 1000);
+
+ while(1) {
+ Vref = 700;
+
+ pc.printf("%f,%f\n\r",Vref, V);
+ led = !led;
+ wait(0.001);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Fri Mar 22 10:20:53 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed-rtos/#5713cbbdb706
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 22 10:20:53 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/176b8275d35d \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motordriver.lib Fri Mar 22 10:20:53 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/porizou3/code/motordriver/#876ba416c547