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2013 Arduino PID Lab 0

This program uses two PID control loops to balance an inverted pendulum mounted on a cart. One PID loop controls the position of the cart using a linear encoder. The other PID loop controls the angle of the pendulum using an angle sensor. The position setpoint is adjusted by the output of the position PID loop to indirectly control the pendulum angle. The motor is controlled via PWM to the inputs of an H-bridge based on the output of the angle PID loop to balance the pendulum.

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Anonymous HsoXPy
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47 views

2013 Arduino PID Lab 0

This program uses two PID control loops to balance an inverted pendulum mounted on a cart. One PID loop controls the position of the cart using a linear encoder. The other PID loop controls the angle of the pendulum using an angle sensor. The position setpoint is adjusted by the output of the position PID loop to indirectly control the pendulum angle. The motor is controlled via PWM to the inputs of an H-bridge based on the output of the angle PID loop to balance the pendulum.

Uploaded by

Anonymous HsoXPy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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Program: The code running on arduino UNO

/*
Length of pendulum = 40 cm
Mass of pendulum rod = 11 grams,
Mass of weight = 6 grams
*/
#include <PID_v1.h>
int enc1 = 2; //Linear encoder pin 1
int enc2 = 4; //Linear encoder pin 2
int in1 = 3; //PWM output to L298n
int in2 = 11; //PWM outout to L298n
int en = 12; //Pin to enable/disable H bridge
int count; //Counter for linear encoder (Resolution: 300ppi)
int abit; //Variable for reading angle sensor
double a_in, a_out, a_setp, p_in, p_out, p_setp, output, pwmin; //PID parameters
PID posPID(&p_in, &p_out, &p_setp,0.001,0,0.0008, DIRECT); // PID loop for
controlling the setpoint of pendulum
PID angPID(&a_in, &a_out, &a_setp,4.6,430,0, DIRECT); // PID loop for controlling
the motor
void setup()
{
//TCCR2B = TCCR2B & 0b11111000 | 0x04;
pinMode(enc1, INPUT);
pinMode(enc2, INPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(en, OUTPUT);
attachInterrupt (0, encoder, RISING); //Reading linear encoder for tracking cart
position
digitalWrite(en, HIGH); //Enable/Disable H-bridge
Serial.begin(9600);
posPID.SetMode(AUTOMATIC);
posPID.SetSampleTime(10);
posPID.SetOutputLimits(-3,3);
angPID.SetMode(AUTOMATIC);
angPID.SetSampleTime(1);
angPID.SetOutputLimits(-195,195);
}
void loop()
{
if(count < 1000 && count > -1000) //To prevent the cart from hitting the ends
{
p_setp = 0;
p_in = count;
posPID.Compute();
a_setp = 545.4 + p_out;
a_in = analogRead(abit);
angPID.Compute();
output = a_out;
if(output<0)
{
pwmin = (-1*output) + 60;
analogWrite(in2, 0);
analogWrite(in1, pwmin);
}
if(output>0)
{
pwmin = (output+60);
analogWrite(in1,0);
analogWrite(in2, pwmin);
}
Serial.println(a_in);
}
else
{
digitalWrite(en,LOW);
analogWrite(in1, 0);
analogWrite(in2, 0);
}
}
void encoder ()
{
if (digitalRead(enc1) == digitalRead(enc2))
{
count++;
}
else
{
count--;
}
}

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