8.26直立完成
zrg
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c8ae6eecc0
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@ -12,13 +12,17 @@ Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：
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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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#define swing_up_voltage 10 //V
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#define balance_voltage 10 //V
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/* ----IMU Data---- */
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float PID_P = 8; //
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float PID_P = 1; //
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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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bool stable = 0;
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uint32_t last_unstable_time;
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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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@ -30,7 +34,7 @@ uint8_t i2cData[14]; // Buffer for I2C data
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// driver instance
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double acc2rotation(double x, double y);
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float constrainAngle(float x);
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const char *ssid = "esp32";
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const char *password = "12345678";
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@ -42,11 +46,16 @@ 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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PIDController angle_pid = PIDController(PID_P, PID_I, PID_D, balance_voltage * 0.7, 20000);
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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 = 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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float LQR_K1 = 500; //摇摆到平衡
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float LQR_K2 = 40; //
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float LQR_K3 = 0.30; //
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float LQR_K1_1 = 200; //平衡态
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float LQR_K2_1 = 15; //
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float LQR_K3_1 = 0.15; //
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//电机参数
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BLDCMotor motor = BLDCMotor(5);
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@ -54,8 +63,9 @@ 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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double target_velocity = 0;
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double target_angle = 31;
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double target_voltage = 0;
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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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@ -63,7 +73,11 @@ void onPacketCallBack(AsyncUDPPacket packet)
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Serial.println(target_velocity);
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// packet.print("reply data");
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}
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// instantiate the commander
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Commander command = Commander(Serial);
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void onp(char* cmd) { command.scalar(&PID_P, cmd); }
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void oni(char* cmd) { command.scalar(&PID_I, cmd); }
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void ond(char* cmd) { command.scalar(&PID_D, cmd); }
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void setup() {
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Serial.begin(115200);
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@ -130,11 +144,11 @@ void setup() {
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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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motor.controller = MotionControlType::torque;
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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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// //速度PI环设置
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// motor.PID_velocity.P = 2;
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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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@ -153,6 +167,9 @@ void setup() {
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//初始化 FOC
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motor.initFOC();
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command.add('P', onp, "newKP");
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command.add('I', oni, "newKI");
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command.add('D', ond, "newKD");
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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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@ -160,8 +177,12 @@ void setup() {
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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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int lim_v = 30;
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long loop_count = 0;
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void loop() {
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motor.loopFOC();
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if (loop_count++ == 10)
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{
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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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@ -186,24 +207,39 @@ void loop() {
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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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float pendulum_angle = constrainAngle((fmod(kalAngleZ * 3, 360.0) / 3.0 - target_angle) / 57.29578);
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if (abs(pendulum_angle) < 0.6) // if angle small enough stabilize 0.5~30°,1.5~90°
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{
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target_voltage = controllerLQR(angle_pid(pendulum_angle), gyroZrate / 57.29578, motor.shaftVelocity());
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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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{
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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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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_voltage);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(pendulum_angle+target_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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motor.loopFOC();
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motor.move(target_velocity);
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motor.move(lpf_throttle(target_voltage));
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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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loop_count = 0;
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}
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command.run();
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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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@ -223,25 +259,49 @@ double acc2rotation(double x, double y)
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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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// function constraining the angle in between -pi and pi, in degrees -180 and 180
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float constrainAngle(float x)
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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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x = fmod(x + M_PI, _2PI);
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if (x < 0)
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x += _2PI;
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return x - M_PI;
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}
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// LQR stabilization controller functions
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// calculating the voltage that needs to be set to the motor in order to stabilize the pendulum
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float controllerLQR(float p_angle, float p_vel, float m_vel)
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{
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// if angle controllable
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// calculate the control law
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// LQR controller u = k*x
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// - k = [40, 7, 0.3]
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// - k = [13.3, 21, 0.3]
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// - x = [pendulum angle, pendulum velocity, motor velocity]'
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if (abs(p_angle) > 0.05)
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{
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last_unstable_time = millis();
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stable = 0;
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}
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if ((millis() - last_unstable_time) > 1000)
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{
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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 (!stable)
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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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}
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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_K1_1 * p_angle + LQR_K2_1 * p_vel + LQR_K3_1 * m_vel;
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}
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// limit the voltage set to the motor
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if (abs(u) > motor.voltage_limit * 0.7)
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u = _sign(u) * motor.voltage_limit * 0.7;
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return u;
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}
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