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Tune-aði PI stýringuna og plot-aði myndir

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helgie22
2026-10-03 15:09:19 +00:00
parent e39d9e487e
commit a82084a8f6
5 changed files with 60 additions and 38 deletions
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.gitignore
+5 -1
View File
@@ -4,8 +4,12 @@ __pycache__
*.csv
*.typ
*.pdf
*.py
*.png
*.csv
scripts
# Vélarsértækar skrár sem PlatformIO býr til sjálft
# Skrár sem PlatformIO býr til sjálft
.vscode/c_cpp_properties.json
.vscode/launch.json
compile_commands.json
include/motor_controller.h
+1 -1
View File
@@ -21,7 +21,7 @@ struct ControlSample
class MotorController
{
private:
static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
static constexpr double DEFAULT_REFERENCE_RPM = 25.0;
static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
static const uint8_t LED_PIN = 5; // PB5 = D13 = LED_BUILTIN
scripts/plot_step_response.py
+39 -21
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@@ -13,7 +13,9 @@ Skriptan metur lika sveiflutima (Tu) og utslag ef kerfid sveiflast, sem
nytist til ad finna Ku/Tu fyrir Ziegler-Nichols.
Notkun:
python plot_step_response.py [inntak.csv] [uttak.png] [titill]
python plot_step_response.py [inntak.csv] [uttak.png] [titill] [--no-pwm]
--no-pwm teiknar bara RPM (PWM-dalkurinn ma lika vanta i CSV-skranni)
Sjalfgefid: data/step_response.csv -> data/step_response.png
"""
@@ -24,6 +26,10 @@ import matplotlib.pyplot as plt
COLUMNS = ["time_ms", "ref_rpm", "actual_rpm", "pwm_actual"]
REQUIRED = ["time_ms", "ref_rpm", "actual_rpm"]
# Onnur nofn sem eldri utgafur firmware-sins hafa notad fyrir sama dalk
ALIASES = {"pwm": "pwm_actual"}
def empty_cols():
@@ -37,13 +43,17 @@ def load_csv(path):
for row in csv.reader(f):
if row and row[0].strip() == "time_ms":
header = [name.strip() for name in row]
header = [ALIASES.get(name, name) for name in header]
missing = [key for key in REQUIRED if key not in header]
if missing:
sys.exit(f"Dalka vantar i haus {row}: {missing}")
continue
if header is None:
# rusl a undan fyrsta haus (t.d. "State: Initialization")
continue
try:
values = {key: float(row[header.index(key)])
for key in COLUMNS}
for key in COLUMNS if key in header}
except (ValueError, IndexError):
# sleppir linum sem eru ekki gild data (t.d. "State: ...")
continue
@@ -52,7 +62,7 @@ def load_csv(path):
if cols["time_ms"] and values["time_ms"] <= cols["time_ms"][-1]:
cols = empty_cols()
for key in COLUMNS:
for key in values:
cols[key].append(values[key])
return cols
@@ -92,11 +102,12 @@ def estimate_oscillation(time_s, actual_rpm):
return statistics.fmean(periods), amplitude
def plot(cols, out_path, title_suffix=""):
def plot(cols, out_path, title_suffix="", show_pwm=True):
time_s = [t / 1000.0 for t in cols["time_ms"]]
ref_rpm = cols["ref_rpm"]
actual_rpm = cols["actual_rpm"]
pwm_actual = cols["pwm_actual"]
show_pwm = show_pwm and len(pwm_actual) == len(time_s)
fig, ax1 = plt.subplots(figsize=(10, 5))
@@ -108,12 +119,17 @@ def plot(cols, out_path, title_suffix=""):
ax1.set_ylabel("Angular velocity [RPM]")
ax1.grid(True, alpha=0.3)
lines, labels = ax1.get_legend_handles_labels()
if show_pwm:
ax2 = ax1.twinx()
ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
color="#d62728", linewidth=1.4)
ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
ax2.axhline(-255, color="#d62728", linewidth=0.6, alpha=0.3)
ax2.set_ylabel("PWM [-255, 255]")
lines2, labels2 = ax2.get_legend_handles_labels()
lines += lines2
labels += labels2
# Merkjum stokkpunktinn (fyrsta stadin thar sem ref hoppar fra 0)
step_idx = next((i for i, r in enumerate(ref_rpm) if r > 0), None)
@@ -124,22 +140,22 @@ def plot(cols, out_path, title_suffix=""):
fontsize=9, va="bottom")
osc = estimate_oscillation(time_s, actual_rpm)
if osc is not None:
tu, amplitude = osc
print(f"Sveifla: Tu = {tu * 1000:.1f} ms, utslag = +-{amplitude:.2f} RPM")
ax1.text(0.01, 0.98, f"Tu ≈ {tu * 1000:.1f} ms\n"
f"amplitude ≈ ±{amplitude:.2f} RPM",
transform=ax1.transAxes, fontsize=9, va="top",
bbox=dict(facecolor="white", alpha=0.8, edgecolor="#cccccc"))
else:
print("Engin skyr sveifla fannst i seinni helmingi gagnanna")
# if osc is not None:
# tu, amplitude = osc
# print(f"Sveifla: Tu = {tu * 1000:.1f} ms, utslag = +-{amplitude:.2f} RPM")
# ax1.text(0.99, 0.98, f"Tu ≈ {tu * 1000:.1f} ms\n"
# f"amplitude ≈ ±{amplitude:.2f} RPM",
# transform=ax1.transAxes, fontsize=9, va="top", ha="right",
# bbox=dict(facecolor="white", alpha=0.8, edgecolor="#cccccc"))
# else:
# print("Engin skyr sveifla fannst i seinni helmingi gagnanna")
lines1, labels1 = ax1.get_legend_handles_labels()
lines2, labels2 = ax2.get_legend_handles_labels()
ax1.legend(lines1 + lines2, labels1 + labels2, loc="lower right",
fontsize=8)
ax1.legend(lines, labels, loc="lower right", fontsize=8)
if show_pwm:
title = "Step response: RPM and PWM over time"
else:
title = "Step response: RPM over time"
if title_suffix:
title += f" ({title_suffix})"
fig.suptitle(title)
@@ -149,10 +165,12 @@ def plot(cols, out_path, title_suffix=""):
if __name__ == "__main__":
in_path = sys.argv[1] if len(sys.argv) > 1 else "data/step_response.csv"
out_path = sys.argv[2] if len(sys.argv) > 2 else "data/step_response.png"
title_suffix = sys.argv[3] if len(sys.argv) > 3 else ""
show_pwm = "--no-pwm" not in sys.argv
args = [a for a in sys.argv[1:] if a != "--no-pwm"]
in_path = args[0] if len(args) > 0 else "data/step_response.csv"
out_path = args[1] if len(args) > 1 else "data/step_response.png"
title_suffix = args[2] if len(args) > 2 else ""
data = load_csv(in_path)
if not data["time_ms"]:
sys.exit(f"Engin gogn fundust i {in_path}")
plot(data, out_path, title_suffix)
plot(data, out_path, title_suffix, show_pwm)
src/main.cpp
+3 -3
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@@ -19,9 +19,9 @@ RotaryEncoderDriver encoder;
MotorDriver motor;
const double Kp = 45.0; // Ziegler-Nichols Method 45.0
const double Ti = 0.0; // 0.226
const double T = 0.0; // 0.004
const double Kp = 10.125; // Ku * 0.45
const double Ti = 0.0334; // Tu * 0.83 37
const double T = 0.004; // 0.004
// P_controller controller(Kp);
PI_controller controller(Kp, Ti, T);
src/operational_state.cpp
+4 -4
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@@ -15,7 +15,7 @@ void OperationalState::enter()
// Tíminn byrjar á 0 í hvert skipti sem farið er inn í Operational
sample_count = 0;
Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
Serial.println("time_ms,ref_rpm,actual_rpm");
}
// Part 1
@@ -48,9 +48,9 @@ void OperationalState::update()
Serial.print(",");
Serial.print(sample.ref_rpm, 1);
Serial.print(",");
Serial.print(sample.actual_rpm, 2);
Serial.print(",");
Serial.println(sample.pwm_actual, 1);
Serial.println(sample.actual_rpm, 2);
// Serial.print(",");
// Serial.println(sample.pwm_actual, 1);
}
}