Controle pid da roda¶

Tutorial - criando um modelo: https://www.mathworks.com/help/simulink/gs/create-a-simple-model.html

Tutorial - modelando um motor: https://www.mathworks.com/videos/modeling-a-dc-motor-68852.html

Design PID: http://www.mathworks.com/help/control/pid-controller-design.html

frequência do contador do pwm (amostragem do pwm)= 20MHz
período da onda do pwm é 1/20kHz

Cálculo da frequência de amostragem do pwm: 20MHz = SYSCLK/AHB/APB1/APB2*picoli/renan

página 152 e 640 do reference manual (RM0090 - revisão 11)

pwm.cpp

TIM_TimeBaseStructure.TIM_Prescaler=(SystemCoreClock/20000000)-1;
    TIM_TimeBaseStructure.TIM_Period=168000000/168000;

/roboime-firmware/src/boot/system_stm32f4xx.c

System Clock source                    | PLL (HSE)
  *---------------------------------------------------------------------------
 *        SYSCLK(Hz)                             | 168000000
  *---------------------------------------------------------------------------
 *        HCLK(Hz)                               | 168000000
  *---------------------------------------------------------------------------
 *        AHB Prescaler                          | 1
  *---------------------------------------------------------------------------
 *        APB1 Prescaler                         | 4
  *---------------------------------------------------------------------------
 *        APB2 Prescaler                         | 2 System Clock source                    | PLL (HSE)
  *---------------------------------------------------------------------------
 *        SYSCLK(Hz)                             | 168000000
  *---------------------------------------------------------------------------
 *        HCLK(Hz)                               | 168000000
  *---------------------------------------------------------------------------
 *        AHB Prescaler                          | 1
  *---------------------------------------------------------------------------
 *        APB1 Prescaler                         | 4
  *---------------------------------------------------------------------------
 *        APB2 Prescaler                         | 2

Interrupção do timer de controle do motor a 1k

/roboime-firmware/src/control/TimerTime.cpp

TIM_TimeBaseStructure.TIM_Prescaler=83;
    TIM_TimeBaseStructure.TIM_Period=1000;

resposta do motor de velocidade 2.5m/s