Va salut, am revenit sa zic asa cu vesti ceva mai bune.
Intampin o mica problema in simularea pid-ului pe microcontrolerul meu, poate unii dintre voi ati mai patit ceva similar.
Pana imi vin motoarele si toate cele... am zis sa incerc o simulare in matlab cu pid-ul ruland direct pe microcontroler citind un simpul ADC cuplat la potentiometru ( valorile variaza de la 0 la 4 ), cu potentiometrul pe idle am aprox 2.3 volti desi conversia este oarecum la plezneala, am vrut doar niste valori pt input la pid.
Nasolia consta in faptul ca nu vad acel spike pe output-ul pid-ului in matlab, cu setpoint pe 2, cand rotesc potentiometrul la 0, ouputul pid-ului imi creste la 2.0 cat e normal ( eroarea este full = 2 - 0 )
rulez urmatorul cod pe microcontroler, am atasat si graficul cu datele de pe serial ( linia albastra este valoarea curenta a potentiometrului, iar linia rosie este ouput-ul pid-ului)
int main(void){
SystemInit();
cycleCounterInit();
SysTick_Config(SystemCoreClock / 1000);
lcd_init();
init_leds();
serial_init();
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_InitTypeDef ADC_InitStructure;
/* ADC Common Init */
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE; // 1 Channel
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; // Conversions Triggered
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None; // Manual
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T2_TRGO;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 1;
ADC_Init(ADC1, &ADC_InitStructure);
/* ADC1 regular channel 11 configuration */
ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 1, ADC_SampleTime_144Cycles); // PC1
/* Enable ADC1 */
ADC_Cmd(ADC1, ENABLE);
char adctxt[10];
char pidtxt[10];
float Kp=1;
float Ki=0;
float Kd=0;
float windupGuard=2;
float SetPoint=2.0;
float input=0;
float error=0;
float output=0;
float current_time=0;
float last_time=0;
float deltaT=0;
float integral=0;
float derivative=0;
float prevErr=0;
while(1){
loop_20hz(){ // a 20hz interrupt every 20000 us systick count
ADC_SoftwareStartConv(ADC1);
while(ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC) == RESET);
float bbb = ADC_GetConversionValue(ADC1);
bbb=bbb*5/4096;
input=bbb;
current_time = micros(); // returns curent time from systick in uS
deltaT = (current_time - last_time)/1000000.0;
error=SetPoint-input;
integral=constrain((integral+error*deltaT),0,windupGuard);
derivative = (input-prevErr)/deltaT;
output =(Kp*error)+(Ki*integral)+(Kd*derivative);
prevErr =input;
last_time = micros(); // returns curent time from systick in uS
if(output<0){ output=0; }
sprintf(txtadc,"%0.1f",input);
sprintf(pidtxt,"%0.1f",output);
USART_Puts(txtadc); // send to matlab curent adc value
USART_Puts("@");
USART_Puts(pidtxt); // sends to matlab curent pid output
USART_Puts("\r\n"); // sends the terminator chars
}}
}
http://s9.postimg.org/mt8y0p1p7/pid_stm32.jpg
aici am atasat si codul matlab cu care am facut testele
clc
clear all
if ~isempty(instrfind)
fclose(instrfind);
delete(instrfind);
end
close all
clc
disp('Serial Port Closed')
clear
clc
%User Defined Properties
serialPort = 'COM7'; % define COM port #
plotTitle = 'Serial Data Log'; % plot title
xLabel = 'Elapsed Time (s)'; % x-axis label
yLabel = 'Data'; % y-axis label
plotGrid = 'on'; % 'off' to turn off grid
min =0; % set y-min
max = 3; % set y-max
scrollWidth = 5; % display period in plot, plot entire data log if <= 0
delay = .01; % make sure sample faster than resolution
%Define Function Variables
time = 0;
data = 0;
count = 0;
bdata = 0;
btime = 0;
%Set up Plot
plotGraph = plot(time,data,'b');
title(plotTitle,'FontSize',25);
xlabel(xLabel,'FontSize',15);
ylabel(yLabel,'FontSize',15);
axis([0 10 min max]);
grid(plotGrid);
%Open Serial COM Port
s = serial(serialPort)
set(s,'DataBits',8);
set(s,'StopBits',1);
set(s,'BaudRate',9600 );
set(s,'Parity','none');
disp('Close Plot to End Session');
fopen(s);
tic
Setpoint=1;
Kp=2;
Ki=3;
Kd=0;
lastt=0;
dsum=0;
ddt=0.03
err=0;
itt=0;
dtr1=0;
dtr2=0;
while ishandle(plotGraph) %Loop when Plot is Active
zz=fscanf(s);
uu=regexp(zz,'@', 'split');
dat =sscanf(uu{1},'%f');
bdat =sscanf(uu{2},'%f');
if(~isempty(dat) && isfloat(dat)&& isfloat(bdat)) %Make sure Data Type is Correct
count = count + 1;
time(count) = toc; %Extract Elapsed Time
data(count) = dat(1); %Extract 1st Data Element
bdata(count) = bdat(1);
set(plotGraph,'XData',time(time > time(count)-scrollWidth),'YData',data(time > time(count)-scrollWidth));hold on
btime=time;
plot(btime,bdata,'r');hold off
axis([time(count)-scrollWidth time(count) min max]);
else
set(bplotGraph,'XData',time,'YData',bdata);
axis([0 time(count) min max]);
end
drawnow;
end
%Close Serial COM Port and Delete useless Variables
fclose(s);
clear count dat delay max min plotGraph plotGrid plotTitle s ...
scrollWidth serialPort xLabel yLabel;
disp('Session Terminated...');
Mai jos am pus si o poza cu simulare doar in matlab unde se vede destul de clar acel spike pe frontul crescator
http://s4.postimg.org/hrwqch6t5/PID_IMAGE.jpg
Sa fac eu prea rapid conversia pe microcontroler pana s-o vad in matlab?
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