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Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
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If you put your finger on the encoder disk to slow it down, you will notice that the increase in the error signal automatically makes the motor power go up to try to keep up with the required speed. However, understand that the motor has now fallen behind its required trajectory. The addition of the integration component into the control algorithm would address this only partially. Before we can have a complete solution, we have to add a time component to the move algorithm so that we have a trajectory based on time. In order to do this, we need to redefine how we are going to make a move. Now that the gain has been shown to be critical, let s design a program that allows us to play with the gain via a couple potentiometers to see how we might make our moves even more perfect. Let s go back to Program 28-7 and play with it again; then based on what we learn, we will make the appropriate changes to the gain in the program. The program demonstrates that we can ramp up and down and also get a stable motor operation. As long as the stopping is controlled, we can run the rest as fast as we want. However, we will need to control both the starting up ramp and the slowing down ramp when we start making coordinated moves. In Program 28-13, we implement the ramping discussed thus far into a comprehensive move.
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Program 28-13 Ramp Up, Run at Constant Rate, Ramp Down, Stop, and Repeat
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{{4 Sep 09 Harprit Sandhu MotorSloFstSlo.Spin Program 13 Propeller Tool Version 1.2.6 28 Program 13 This program moves the motor in a slow, fast ,slow, stop sequence to demonstrate the control of the speed over a period of equal time segments. This is an absolutely minimal ramping demonstration. Only two speeds are used. This could be expanded to a very complicated algorithm with lots of gains and speed specifications. We are not using the encoder or the potentiometers in this program. Connections are Amplifier brake Amplifier PWM Amplifier direction Potentiometer
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LCD on the usual P12..P18 4 bit mode Revisions
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RAMPing
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Program 28-13 (continued)
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Ramp Up, Run at Constant Rate, Ramp Down, Stop, and Repeat
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OBJ LCD
: "LCDRoutines4" 'for the LCD methods
CON _CLKMODE=XTAL1 + PLL2X _XINFREQ = 5_000_000 AmpBrake AmpPWM MotorDir VAR long long long long long long long long long long long byte long =2 =3 =4
'The system clock spec
Pos[3] stack2[25] stack3[25] stack4[25] pulswidth TimeSegs RmpUp RmpDn RunCn move initGain gainStep gain
'Create buffer for encoder 'space for Cog_LCD 'space for Cog_SetMotorPower 'space for Cog_RunMotor ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' '
PUB Go cognew(cog_LCD, @stack2) cognew(SetMotorPower, @stack3) cognew(RunMotor(AmpPWM),@Stack4) Move:=400 TimeSegs:=0 RmpUp:=move/3 RmpDn:=RmpUp RunCn:=MOve-RmpDn-RmpUp Gainstep:=3 initGain:=15 gain:=initGain repeat Case timeSegs 0..RmpUp: gain:=gain+gainStep RmpUp+1..RmpUp+RunCn:
'loop 'base the gain on the time segment number 'first segments 'slow speed 'next segments 'constant speed (continued)
Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
Program 28-13 (continued)
Ramp Up, Run at Constant Rate, Ramp Down, Stop, and Repeat
RmpUp+RunCn+1..RmpUp+RunCn+RmpDn: 'next segments gain:=gain-gainStep 'slow speed RmpUp+RunCn+RmpDn+1..RmpUp+RunCn+RmpDn+100: 'next segments gain:=0 'Gain=0 means stop for a while timeSegs:=timeSegs+1 waitcnt(120_000+cnt) 'define length of each time segment as 0.1 secs if timeSegs==RmpUp+RunCn+RmpDn+50 'check top time value for reset waitcnt(clkfreq+cnt) 'wait to look at LCD timeSegs:=0 'reset time counter gain:=initGain PRI cog_LCD LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("Time=" )) LCD.PRINT_DEC(timeSegs) LCD.SPACE(2) LCD.POSITION (2,1) LCD.PRINT(STRING("Gain=" )) LCD.PRINT_DEC(gain) LCD.SPACE(4) PUB SetMotorPower dira[AmpBrake..MotorDir]~~ outa[AmpBrake]~ repeat outa[MotorDir]~ PULSWIDTH:=gain*450 'manage the LCD 'initialize the LCD 'LCD loop 'Go to 1st line 1st space 'Error 'print the pot reading 'erase over old data 'Go to 2nd line 1st space 'Potentiometer 'print the pot reading 'erase over old data 'These pins control the motor amp 'turn off the amp brake 'loop 'move negative 'set gain
PUB RunMotor(Pin)|Cycle_time,period ' toggle the output line, set dira[AmpBrake..MotorDir]~~ 'g the three amplifier lines ctra[30..26]:=%00100 'Set this cog's "A Counter" to run PWM ctra[5..0]:=Pin ' "A pin" of this cog to Pin# here frqa:=1 'Set this counter's frqa value to 1 PulsWidth:=0 'Start with pulsewidth=0 Cycle_time:=clkfreq/50 ' time for the pulse width to 10 ms period:=cnt 'Store the current value of the counter repeat 'power PWM routine. phsa:=-PulsWidth ' high pulse for Pulsewidth counts period:=period+Cycle_time 'Calculate cycle time waitcnt(period) 'Wait for the cycle time
Program 28-13 gives us everything we need to ramp up, run at a constant speed, and then ramp down. However, the scheme is defined by the number of time segments
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