添加了电机调试模式，可以测试电机能否正常运行。
zrg
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69203aa697
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f4ab3f8f0c
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@ -17,7 +17,6 @@ AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18
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#include "EEPROM.h"
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Kalman kalmanZ;
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#define gyroZ_OFF -0.19
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#define FLAG_V 0
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/* ----IMU Data---- */
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double accX, accY, accZ;
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@ -50,14 +49,6 @@ TwoWire I2Ctwo = TwoWire(1);
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LowPassFilter lpf_throttle{0.00};
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//倒立摆参数
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float LQR_K1_1 = 4; //摇摆到平衡
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float LQR_K1_2 = 1.5; //
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float LQR_K1_3 = 0.30; //
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float LQR_K2_1 = 3.49; //平衡态
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float LQR_K2_2 = 0.26; //
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float LQR_K2_3 = 0.15; //
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float LQR_K3_1 = 10; //摇摆到平衡
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float LQR_K3_2 = 1.7; //
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float LQR_K3_3 = 1.75; //
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@ -81,27 +72,35 @@ float v_p_2 = 0.2;
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//命令设置
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Command comm;
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bool Motor_enable_flag = 0;
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int test_flag = 0;
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void do_TA(char* cmd) { comm.scalar(&target_angle, cmd);EEPROM.writeFloat(0, target_angle); }
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void do_SV(char* cmd) { comm.scalar(&swing_up_voltage, cmd); EEPROM.writeFloat(4, swing_up_voltage); }
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void do_SA(char* cmd) { comm.scalar(&swing_up_angle, cmd);EEPROM.writeFloat(8, swing_up_angle); }
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void do_START(char* cmd) { wifi_flag = !wifi_flag; }
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void do_MOTOR(char* cmd)
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{
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if(Motor_enable_flag)
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digitalWrite(22,HIGH);
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motor.enable();
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else
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digitalWrite(22,LOW);
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motor.disable();
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Motor_enable_flag = !Motor_enable_flag;
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}
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#if FLAG_V
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void do_K11(char* cmd) { comm.scalar(&LQR_K1_1, cmd); }
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void do_K12(char* cmd) { comm.scalar(&LQR_K1_2, cmd); }
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void do_K13(char* cmd) { comm.scalar(&LQR_K1_3, cmd); }
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void do_K21(char* cmd) { comm.scalar(&LQR_K2_1, cmd); }
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void do_K22(char* cmd) { comm.scalar(&LQR_K2_2, cmd); }
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void do_K23(char* cmd) { comm.scalar(&LQR_K2_3, cmd); }
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#else
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void do_TVQ(char* cmd)
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{
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if(test_flag == 1)
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test_flag = 0;
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else
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test_flag = 1;
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}
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void do_TVV(char* cmd)
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{
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if(test_flag == 2)
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test_flag = 0;
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else
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test_flag = 2;
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}
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void do_VV(char* cmd) { comm.scalar(&target_velocity, cmd); }
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void do_VQ(char* cmd) { comm.scalar(&target_voltage, cmd); }
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void do_vp1(char* cmd) { comm.scalar(&v_p_1, cmd); EEPROM.writeFloat(12, v_p_1);}
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void do_vi1(char* cmd) { comm.scalar(&v_i_1, cmd);EEPROM.writeFloat(16, v_i_1); }
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void do_vp2(char* cmd) { comm.scalar(&v_p_2, cmd); EEPROM.writeFloat(20, v_p_2);}
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@ -113,8 +112,6 @@ void do_K33(char* cmd) { comm.scalar(&LQR_K3_3, cmd); }
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void do_K41(char* cmd) { comm.scalar(&LQR_K4_1, cmd); }
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void do_K42(char* cmd) { comm.scalar(&LQR_K4_2, cmd); }
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void do_K43(char* cmd) { comm.scalar(&LQR_K4_3, cmd); }
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#endif
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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@ -171,15 +168,11 @@ if(j == 0)
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comm.add("MOTOR",do_MOTOR);
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comm.add("SV",do_SV);
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comm.add("SA",do_SA);
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#if FLAG_V //电压模式
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comm.add("K11",do_K11);
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comm.add("K12",do_K12);
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comm.add("K13",do_K13);
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comm.add("K21",do_K21);
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comm.add("K22",do_K22);
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comm.add("K23",do_K23);
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#else //速度模式
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comm.add("TVQ",do_TVQ);
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comm.add("TVV",do_TVV);
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comm.add("VV",do_VV);
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comm.add("VQ",do_VQ);
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//速度环参数
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comm.add("VP1",do_vp1);
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comm.add("VI1",do_vi1);
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comm.add("VP2",do_vp2);
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@ -191,7 +184,7 @@ if(j == 0)
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comm.add("K41",do_K41);
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comm.add("K42",do_K42);
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comm.add("K43",do_K43);
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#endif
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// kalman mpu6050 init
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Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
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i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
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@ -202,7 +195,6 @@ if(j == 0)
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; // Write to all four registers at once
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while (i2cWrite(0x6B, 0x01, true))
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; // PLL with X axis gyroscope reference and disable sleep mode
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while (i2cRead(0x75, i2cData, 1))
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;
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if (i2cData[0] != 0x68)
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@ -211,9 +203,7 @@ if(j == 0)
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while (1)
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;
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}
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delay(100); // Wait for sensor to stabilize
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/* Set kalman and gyro starting angle */
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while (i2cRead(0x3B, i2cData, 6))
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;
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@ -221,10 +211,8 @@ if(j == 0)
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accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
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accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
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double pitch = acc2rotation(accX, accY);
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kalmanZ.setAngle(pitch);
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gyroZangle = pitch;
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timer = micros();
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Serial.println("kalman mpu6050 init");
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@ -254,21 +242,16 @@ if(j == 0)
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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//运动控制模式设置
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#if FLAG_V
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motor.controller = MotionControlType::torque;
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#else
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motor.controller = MotionControlType::velocity;
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//速度PI环设置
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motor.PID_velocity.P = 0.5;
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motor.PID_velocity.I = 20;
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#endif
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motor.PID_velocity.P = v_p_1;
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motor.PID_velocity.I = v_i_1;
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//最大电机限制电机
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motor.voltage_limit = 12;
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//速度低通滤波时间常数
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motor.LPF_velocity.Tf = 0.01;
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motor.LPF_velocity.Tf = 0.02;
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//设置最大速度限制
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motor.velocity_limit = 40;
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@ -284,7 +267,6 @@ if(j == 0)
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target velocity using serial terminal:"));
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//digitalWrite(22,LOW);
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}
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char buf[255];
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long loop_count = 0;
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@ -322,65 +304,50 @@ void loop() {
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gyroZangle = kalAngleZ;
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float pendulum_angle = constrainAngle(fmod(kalAngleZ,120)-target_angle);
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// FLAG_V为1时使用电压控制，为0时候速度控制
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#if FLAG_V
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if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90°
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{
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target_voltage = controllerLQR(pendulum_angle, gyroZrate, motor.shaftVelocity());
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// limit the voltage set to the motor
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if (abs(target_voltage) > motor.voltage_limit * 0.7)
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target_voltage = _sign(target_voltage) * motor.voltage_limit * 0.7;
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}
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else // else do swing-up
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{ // sets 1.5V to the motor in order to swing up
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target_voltage = -_sign(gyroZrate) * swing_up_voltage;
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}
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// set the target voltage to the motor
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if (accZ < -13000 && ((accX * accX + accY * accY) > (14000 * 14000)))
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// pendulum_angle当前角度与期望角度差值，在差值大的时候进行摇摆，差值小的时候LQR控制电机保持平衡
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if(test_flag == 0)//正常控制
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{
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motor.move(0);
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}
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else
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{
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motor.move(lpf_throttle(target_voltage));
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}
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#else
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if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90°
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{
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target_velocity = controllerLQR(pendulum_angle, gyroZrate, motor.shaftVelocity());
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if (abs(target_velocity) > 140)
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target_velocity = _sign(target_velocity) * 140;
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motor.controller = MotionControlType::velocity;
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motor.move(target_velocity);
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}
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else // else do swing-up
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{ // sets 1.5V to the motor in order to swing up
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{ // sets swing_up_voltage to the motor in order to swing up
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motor.controller = MotionControlType::torque;
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target_voltage = -_sign(gyroZrate) * swing_up_voltage;
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motor.move(target_voltage);
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}
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#endif
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}
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else if(test_flag == 1)
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{
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motor.controller = MotionControlType::torque;
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motor.move(target_voltage);
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}
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else
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{
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motor.controller = MotionControlType::velocity;
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motor.move(target_velocity);
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}
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//串口输出数据部分，不需要的情况可以改为0
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#if 1
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//Serial.print(gyroZangle);Serial.print("\t");
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Serial.print(pitch);Serial.print("\t");
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Serial.print(kalAngleZ);Serial.print("\t");
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Serial.print(target_voltage);Serial.print("\t");
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// Serial.print(target_velocity);Serial.print("\t");
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Serial.print(motor.shaft_velocity);Serial.print("\t");
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Serial.print(motor.voltage.q);Serial.print("\t");
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Serial.print(target_angle);Serial.print("\t");
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Serial.print(pendulum_angle);Serial.print("\t");
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Serial.print(gyroZrate);Serial.print("\t");
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Serial.print("\r\n");
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#endif
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// motor.move(target_velocity);
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//可以使用该方法广播信息
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//可以使用该方法wifi发送udp信息
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if(wifi_flag)
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{
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memset(buf, 0, strlen(buf));
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@ -453,19 +420,7 @@ float controllerLQR(float p_angle, float p_vel, float m_vel)
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stable = 1;
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}
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//Serial.println(stable);
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float u;
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#if FLAG_V
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if (!stable)
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{
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u = LQR_K1_1 * p_angle + LQR_K1_2 * p_vel + LQR_K1_3 * m_vel;
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}
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else
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{
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//u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel;
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u = LQR_K2_1 * p_angle + LQR_K2_2 * p_vel + LQR_K2_3 * m_vel;
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}
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#else
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if (!stable)
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{
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motor.PID_velocity.P = v_p_1;
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@ -479,7 +434,7 @@ float controllerLQR(float p_angle, float p_vel, float m_vel)
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//u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel;
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u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel;
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}
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#endif
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return u;
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}
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void wifi_print(char * s,double num)
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