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  • Code Arduino Dieukhientocdodongco

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    mtrietdinhbk
    12 views2 pages
    This document contains code for controlling the speed of a DC motor using a PID controller. It defines pin connections for a PWM pin, and direction pins. It initializes the timer and interrupt functions. In the PID function, it calculates the motor speed from encoder pulses, computes the error between target and actual speed, and calculates the PID output term to control the motor speed based on the error. The output is written to the PWM and direction pins to drive the motor.

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    This document contains code for controlling the speed of a DC motor using a PID controller. It defines pin connections for a PWM pin, and direction pins. It initializes the timer and interrupt functions. In the PID function, it calculates the motor speed from encoder pulses, computes the error between target and actual speed, and calculates the PID output term to control the motor speed based on the error. The output is written to the PWM and direction pins to drive the motor.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
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    12 views2 pages

    Code Arduino Dieukhientocdodongco

    Uploaded by

    mtrietdinhbk
    This document contains code for controlling the speed of a DC motor using a PID controller. It defines pin connections for a PWM pin, and direction pins. It initializes the timer and interrupt functions. In the PID function, it calculates the motor speed from encoder pulses, computes the error between target and actual speed, and calculates the PID output term to control the motor speed based on the error. The output is written to the PWM and direction pins to drive the motor.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    of 2

    #include<TimerOne.

    h>

    #define PWM 5
    #define DIR1 7
    #define DIR2 8
    //#define Kp 0.3
    //#define Kd 0.001
    //#define Ki 0.05
    #define Kp 0.01
    #define Kd 0.0002
    #define Ki 0.04

    double tam;
    float T,xung;
    float tocdo, tocdodat;
    double E,E1,E2;
    double alpha, beta, gamma;
    double Output, LastOutput;

    void setup(){
    pinMode(2,INPUT_PULLUP);
    pinMode(3,INPUT_PULLUP);
    pinMode(PWM,OUTPUT);
    pinMode(DIR1,OUTPUT);
    pinMode(DIR2,OUTPUT);
    TCCR2B = TCCR2B & B11111000 | B00000001; // for PWM frequency of 31372.55 Hz
    tocdodat=1000; tocdo=0;
    E=0; E1=0; E2=0;
    Output = 0; LastOutput = 0;
    T=0.01;
    Serial.begin(9600);
    attachInterrupt(0,Demxung,FALLING);
    Timer1.initialize(10000); //don vi us
    Timer1.attachInterrupt(PID);
    }

    void loop(){

    }
    void Demxung()
    {
    if(digitalRead(3) == LOW)
    xung++;
    else
    xung--;
    }
    void PID()
    {
    tocdo=((xung/200)*(1/T)*60);
    xung=0;
    E = tocdodat - tocdo;
    alpha = 2*T*Kp + Ki*T*T + 2*Kd;
    beta = T*T*Ki - 4*Kd - 2*T*Kp;
    gamma = 2*Kd;
    Output = (alpha*E + beta*E1 + gamma*E2 + 2*T*LastOutput)/(2*T);
    LastOutput = Output;

    E2=E1;
    E1=E;
    digitalWrite(DIR1,LOW);
    digitalWrite(DIR2,HIGH);
    analogWrite(PWM,abs(Output));
    Serial.println(tocdo);
    }

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