Controle pid da roda » Histórico » Versão 5
Gustavo Claudio Karl Couto, 29/04/2017 21:12 h
| 1 | 1 | Carlos Gabriel Oliveira Freitas | h1. Controle pid da roda |
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| 2 | |||
| 3 | 2 | Carlos Gabriel Oliveira Freitas | Tutorial - criando um modelo: https://www.mathworks.com/help/simulink/gs/create-a-simple-model.html |
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| 5 | 1 | Carlos Gabriel Oliveira Freitas | Tutorial - modelando um motor: https://www.mathworks.com/videos/modeling-a-dc-motor-68852.html |
| 6 | 3 | Carlos Gabriel Oliveira Freitas | |
| 7 | Design pid: http://www.mathworks.com/help/control/pid-controller-design.html |
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| 8 | 4 | Renan Pícoli | |
| 9 | frequência do contador do pwm (amostragem do pwm)= 20MHz |
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| 10 | período da onda do pwm é 1/20kHz |
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| 11 | 5 | Gustavo Claudio Karl Couto | |
| 12 | pagina 152 e 640 |
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| 13 | |||
| 14 | pwm.cpp |
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| 15 | |||
| 16 | TIM_TimeBaseStructure.TIM_Prescaler=(SystemCoreClock/20000000)-1; |
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| 17 | TIM_TimeBaseStructure.TIM_Period=168000000/168000; |
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| 18 | |||
| 19 | /roboime-firmware/src/boot/system_stm32f4xx.c |
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| 20 | |||
| 21 | System Clock source | PLL (HSE) |
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| 22 | *----------------------------------------------------------------------------- |
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| 23 | * SYSCLK(Hz) | 168000000 |
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| 24 | *----------------------------------------------------------------------------- |
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| 25 | * HCLK(Hz) | 168000000 |
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| 26 | *----------------------------------------------------------------------------- |
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| 27 | * AHB Prescaler | 1 |
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| 28 | *----------------------------------------------------------------------------- |
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| 29 | * APB1 Prescaler | 4 |
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| 30 | *----------------------------------------------------------------------------- |
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| 31 | * APB2 Prescaler | 2 System Clock source | PLL (HSE) |
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| 32 | *----------------------------------------------------------------------------- |
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| 33 | * SYSCLK(Hz) | 168000000 |
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| 34 | *----------------------------------------------------------------------------- |
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| 35 | * HCLK(Hz) | 168000000 |
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| 36 | *----------------------------------------------------------------------------- |
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| 37 | * AHB Prescaler | 1 |
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| 38 | *----------------------------------------------------------------------------- |
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| 39 | * APB1 Prescaler | 4 |
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| 40 | *----------------------------------------------------------------------------- |
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| 41 | * APB2 Prescaler | 2 |
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| 42 | |||
| 43 | Interrupção do timer de controle do motor a 1k |
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| 44 | |||
| 45 | /roboime-firmware/src/control/TimerTime.cpp |
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| 46 | |||
| 47 | TIM_TimeBaseStructure.TIM_Prescaler=83; |
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| 48 | TIM_TimeBaseStructure.TIM_Period=1000; |