248 lines
7.2 KiB
C++
248 lines
7.2 KiB
C++
/**
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Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：灯哥开源FOC V1.0
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在串口窗口中输入：T+速度，就可以使得两个电机闭环转动
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比如让两个电机都以 10rad/s 的速度转动，则输入：T10
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在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(7) 中的值，设置为自己的极对数数字
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程序默认设置的供电电压为 16.8V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值
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默认PID针对的电机是 GB6010 ，使用自己的电机需要修改PID参数，才能实现更好效果
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*/
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#include <SimpleFOC.h>
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#include <WiFi.h>
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#include <AsyncUDP.h> //引用以使用异步UDP
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#include <Kalman.h> // Source: https://github.com/TKJElectronics/KalmanFilter
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Kalman kalmanZ;
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#define gyroZ_OFF -0.72
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/* ----IMU Data---- */
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float PID_P = 8; //
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float PID_I = 0; //
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float PID_D = 0; //
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double accX, accY, accZ;
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double gyroX, gyroY, gyroZ;
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int16_t tempRaw;
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double gyroZangle; // Angle calculate using the gyro only
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double compAngleZ; // Calculated angle using a complementary filter
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double kalAngleZ; // Calculated angle using a Kalman filter
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uint32_t timer;
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uint8_t i2cData[14]; // Buffer for I2C data
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/* ----FOC Data---- */
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// driver instance
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double acc2rotation(double x, double y);
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const char *ssid = "esp32";
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const char *password = "12345678";
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AsyncUDP udp; //创建UDP对象
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unsigned int localUdpPort = 2333; //本地端口号
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unsigned int broadcastPort = localUdpPort;
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MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
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TwoWire I2Ctwo = TwoWire(1);
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//倒立摆参数
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float LQR_K1 = 200; //摇摆到平衡
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float LQR_K2 = 15; //
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float LQR_K3 = 0.15; //
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//电机参数
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BLDCMotor motor = BLDCMotor(5);
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BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
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//命令设置
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int target_velocity = 0;
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int target_angle = 149;
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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target_velocity = atoi((char*)(packet.data()));
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Serial.print("数据内容: ");
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Serial.println(target_velocity);
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// packet.print("reply data");
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}
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void setup() {
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Serial.begin(115200);
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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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i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
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i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
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i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
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while (i2cWrite(0x19, i2cData, 4, false))
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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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{ // Read "WHO_AM_I" register
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Serial.print(F("Error reading sensor"));
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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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accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
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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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//wifi初始化
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WiFi.mode(WIFI_AP);
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while(!WiFi.softAP(ssid, password)){}; //启动AP
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Serial.println("AP启动成功");
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while (!udp.listen(localUdpPort)) //等待udp监听设置成功
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{
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}
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udp.onPacket(onPacketCallBack); //注册收到数据包事件
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I2Ctwo.begin(23, 5, 400000); //SDA,SCL
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sensor.init(&I2Ctwo);
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//连接motor对象与传感器对象
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motor.linkSensor(&sensor);
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//供电电压设置 [V]
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driver.voltage_power_supply = 12;
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driver.init();
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//连接电机和driver对象
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motor.linkDriver(&driver);
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//FOC模型选择
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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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motor.controller = MotionControlType::velocity;
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//速度PI环设置
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motor.PID_velocity.P = 1.5;
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motor.PID_velocity.I = 20;
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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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//设置最大速度限制
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motor.velocity_limit = 40;
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motor.useMonitoring(Serial);
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//初始化电机
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motor.init();
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//初始化 FOC
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motor.initFOC();
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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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}
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char s[255];
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int t_v;
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int lim_v = 20;
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void loop() {
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while (i2cRead(0x3B, i2cData, 14));
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accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
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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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tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
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gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
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gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
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gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
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double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
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timer = micros();
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double pitch = acc2rotation(accX, accY);
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double gyroZrate = gyroZ / 131.0; // Convert to deg/s
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kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
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gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
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compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
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// Reset the gyro angle when it has drifted too much
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if (gyroZangle < -180 || gyroZangle > 180)
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gyroZangle = kalAngleZ;
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sprintf(s, "%.2f",kalAngleZ); //将100转为16进制表示的字符串
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// target_velocity = -angle_pid(kalAngleZ);
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// if (abs(target_velocity)>lim_v)
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// target_velocity = -target_velocity;
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// if (target_velocity >lim_v)
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// target_velocity = lim_v;
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// if (target_velocity<-lim_v)
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// target_velocity = -lim_v;
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Serial.print(motor.shaft_velocity);Serial.print("\t");
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Serial.print(target_velocity);Serial.print("\t");
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Serial.print(target_angle);Serial.print("\t");
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Serial.print(kalAngleZ);Serial.print("\t");
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Serial.print("\r\n");
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motor.loopFOC();
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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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IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
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udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
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}
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/* mpu6050加速度转换为角度
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acc2rotation(ax, ay)
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acc2rotation(az, ay) */
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double acc2rotation(double x, double y)
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{
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if (y < 0)
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{
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return atan(x / y) / 1.570796 * 90 + 180;
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}
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else if (x < 0)
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{
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return (atan(x / y) / 1.570796 * 90 + 360);
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}
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else
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{
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return (atan(x / y) / 1.570796 * 90);
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}
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}
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unsigned long lastTime;
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double errSum, lastErr;
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int angle_pid(double now_angle)
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{
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/*How long since we last calculated*/
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unsigned long now = millis();
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double timeChange = (double)(now - lastTime);
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/*Compute all the working error variables*/
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double error = target_angle-now_angle;
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errSum += (error * timeChange);
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double dErr = (error - lastErr) / timeChange;
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/*Compute PID Output*/
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int Output = PID_P * error + PID_I * errSum + PID_D * dErr;
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/*Remember some variables for next time*/
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lastErr = error;
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lastTime = now;
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return Output;
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}
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