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Linear_Motor_Steuerung.ino
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Linear_Motor_Steuerung.ino
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#include <PID_v1.h>
#define ENC_A 2
#define ENC_B 3
volatile int encoder0Pos = 0;
#define EN1 5
#define EN2 6
#define EN3 7
#define IN1 9
#define IN2 10
#define IN3 11
#define DirPin 4
#define StepPin 12
double Setpoint, Input, Output;
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
// SPWM (Sine Wave)
//const int pwmSin[72] = {127, 138, 149, 160, 170, 181, 191, 200, 209, 217, 224, 231, 237, 242, 246, 250, 252, 254, 254, 254, 252, 250, 246, 242, 237, 231, 224, 217, 209, 200, 191, 181, 170, 160, 149, 138, 127, 116, 105, 94, 84, 73, 64, 54, 45, 37, 30, 23, 17, 12, 8, 4, 2, 0, 0, 0, 2, 4, 8, 12, 17, 23, 30, 37, 45, 54, 64, 73, 84, 94, 105, 116 };
// SVPWM (Space Vector Wave)
const int pwmSin[] = {128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124};
#define ARRAYSIZE sizeof(pwmSin)/sizeof(int)
enum phase {PHASE1, PHASE2, PHASE3};
int phasePwmIndex[3];
int *pos_U, *pos_V, *pos_W;
int commutationPWMOffset = 24;
//This distance is the difference between two magnets with the same polarity.
const double phaseDistance = 27;
double position_in_mm = 0; // (encoder0Pos) / 40.00;
String inString = "";
void setup()
{
commutationPWMOffset = ARRAYSIZE/3;
phasePwmIndex[0] = 0;
phasePwmIndex[1] = commutationPWMOffset;
phasePwmIndex[2] = (2*commutationPWMOffset);
*pos_U = pwmSin + phasePwmIndex[0];
*pos_V = pwmSin + phasePwmIndex[1];
*pos_W = pwmSin + phasePwmIndex[2];
pinMode(ENC_A, INPUT);
pinMode(ENC_B, INPUT);
attachInterrupt(0, isrA, CHANGE);
attachInterrupt(1, isrB, CHANGE);
//Increase PWM frequency to 32 kHz (make inaudible)
setPwmFrequency(IN1);
setPwmFrequency(IN2);
setPwmFrequency(IN3);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(EN1, OUTPUT);
pinMode(EN2, OUTPUT);
pinMode(EN3, OUTPUT);
digitalWrite(EN1, HIGH);
digitalWrite(EN2, HIGH);
digitalWrite(EN3, HIGH);
analogWrite(IN1,*pos_U);
analogWrite(IN2,*pos_V);
analogWrite(IN3,*pos_W);
//wait for 2 seconds for forcer to settle in position
delay(2000);
encoder0Pos = 0;
analogWrite(IN1,0);
analogWrite(IN2,0);
analogWrite(IN3,0);
myPID.SetOutputLimits(-1000, 1000);
myPID.SetMode(AUTOMATIC);
myPID.SetSampleTime(1);
myPID.SetTunings(15,0,0.4);
Serial.begin(115200);
}
void loop()
{
//Read Setpoint from serial communication
if(Serial.available() > 0)
{
int inChar = Serial.read();
if (isDigit(inChar))
{
inString += (char)inChar;
}
if (inChar == '\n')
{
Setpoint = inString.toInt();
Serial.print("SetPoint");
Serial.println(Setpoint);
inString = "";
}
}
Input = encoder0Pos / 40.00;
myPID.Compute();
drive(Output/1000);
}
void drive(double scale_factor)
{
if(scale_factor < 0.00)
{
//linear scale Y = x * (ymax - ymin)/(xmax - xmin) + offset
scale_factor = (-scale_factor - 0.00) * (1.0 - 0.1) / (1.00 - 0.00) + 0.1;
int offset = -(phasePwmIndex[0] - berechne() + commutationPWMOffset);
shift(&pos_U, offset, ARRAYSIZE, PHASE1);
shift(&pos_V, offset, ARRAYSIZE, PHASE2);
shift(&pos_W, offset, ARRAYSIZE, PHASE3);
analogWrite(IN1,*pos_U * scale_factor);
analogWrite(IN2,*pos_V * scale_factor);
analogWrite(IN3,*pos_W * scale_factor);
}
else if(scale_factor > 0.00)
{
scale_factor = (scale_factor - 0.00) * (1.0 - 0.1) / (1.00 - 0.00) + 0.1;
int offset = (phasePwmIndex[0] + berechne() + commutationPWMOffset);
shift(&pos_U, offset, ARRAYSIZE, PHASE1);
shift(&pos_V, offset, ARRAYSIZE, PHASE2);
shift(&pos_W, offset, ARRAYSIZE, PHASE3);
analogWrite(IN1,*pos_U * scale_factor);
analogWrite(IN2,*pos_V * scale_factor);
analogWrite(IN3,*pos_W * scale_factor);
}
}
int berechne()
{
double position_in_mm = encoder0Pos / 40.00;
int multiple = position_in_mm / phaseDistance;
double phaseshift_mm = position_in_mm - (multiple * phaseDistance);
return ((phaseshift_mm - 0) * (72 - 0) / (phaseDistance - 0) + 0);
}
//######################## Shift-Array########################
void shift(int **pwm_sin, int shift_distance, int array_size, phase phase_number)
{
if(shift_distance != array_size)
{
if(shift_distance > 0)
{
if(phasePwmIndex[phase_number] + shift_distance < array_size)
{
*pwm_sin = *pwm_sin + shift_distance;
phasePwmIndex[phase_number] += shift_distance;
}
else
{
int temp =phasePwmIndex[phase_number] + shift_distance - array_size;
*pwm_sin = *pwm_sin - phasePwmIndex[phase_number];
*pwm_sin = *pwm_sin + temp;
phasePwmIndex[phase_number] = temp;
}
}
else if(shift_distance < 0)
{
int temp_distance = array_size + shift_distance;
shift(pwm_sin, temp_distance , array_size, phase_number);
}
}
}
//########################### ENCODER-INTERRUPT#########################################
void isrA()
{
if (bitRead(PIND, ENC_B) != bitRead(PIND, ENC_A))
{
encoder0Pos++;
}
else
{
encoder0Pos--;
}
}
void isrB()
{
if (bitRead(PIND, ENC_A) == bitRead(PIND, ENC_B))
{
encoder0Pos++;
}
else
{
encoder0Pos--;
}
}
//#################### PWM-Motor#######################
void setPwmFrequency(int pin) {
if(pin == 5 || pin == 6 || pin == 9 || pin == 10) {
if(pin == 5 || pin == 6) {
TCCR0B = TCCR0B & 0b11111000 | 0x01;
} else {
TCCR1B = TCCR1B & 0b11111000 | 0x01;
}
}
else if(pin == 3 || pin == 11) {
TCCR2B = TCCR2B & 0b11111000 | 0x01;
}
}