Package org.deepjava.runtime.mpc555.sysp

Class SpeedController4DCMotor

java.lang.Object

org.deepjava.runtime.mpc555.sysp.SpeedController4DCMotor

public class SpeedController4DCMotor
extends Object

Speed controller (PI control) for DC motor.
This controller uses two channels of the time processor unit and operates in sign-magnitude mode.
IMPORTANT: The motor and the encoder have to be connected carefully. A positive speed control must lead to a positive speed reading. If this is not the case you have to change either the connections to the motor or the signals of the encoder (but not both!).

Constructor Summary

Constructors

Constructor	Description
SpeedController4DCMotor(float ts, int pwmChannel1, int pwmChannel2, boolean useTPUA4PWM, int encChannelA, boolean useTPUA4Enc, int encTPR, float umax, float i, float kp, float tn)	Create a new speed controller for a DC motor.

Method Summary

Modifier and Type	Method	Description
float	getActualPosition()	Returns the current absolute position.
float	getActualSpeed()	Returns the current speed.
void	run()	Controller task method.
void	setDesiredSpeed(float v)	Set desired speed.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, toString

Constructor Detail

SpeedController4DCMotor

public SpeedController4DCMotor(float ts,
                               int pwmChannel1,
                               int pwmChannel2,
                               boolean useTPUA4PWM,
                               int encChannelA,
                               boolean useTPUA4Enc,
                               int encTPR,
                               float umax,
                               float i,
                               float kp,
                               float tn)

Create a new speed controller for a DC motor.

Parameters:

ts - task period in seconds [s]

pwmChannel1 - TPU channel for the first PWM signal.

pwmChannel2 - TPU channel for the second PWM signal.

useTPUA4PWM - Time processing unit to use for PWM signals: true for TPU-A and false for TPU-B.

encChannelA - TPU channel for the encoder signal A. For the signal B the channel of A + 1 will be used.

useTPUA4Enc - Time processing unit to use for FQD: true for TPU-A and false for TPU-B.

encTPR - impulse/ticks per rotation of the encoder.

umax - maximum output voltage of set value.

i - gear transmission ratio.

kp - controller gain factor. For experimental evaluating the controller parameters, begin with kp = 1.

tn - time constant of the controller. For experimental evaluating the controller parameters, set tn to the mechanical time constant of your axis. If the motor has a gear it's assumed that the torque of inertia of the rotor is dominant. That means you can set tn equals to the mechanical time constant of your motor.

Method Detail

run

public void run()

Controller task method. Call this method periodically with the given period time (ts)!

setDesiredSpeed

public void setDesiredSpeed(float v)

Set desired speed.

Parameters:

v - desired speed in radian per second [1/s]

getActualSpeed

public float getActualSpeed()

Returns the current speed.

Returns:

current speed in radian per second [1/s]

getActualPosition

public float getActualPosition()

Returns the current absolute position.

Returns:

absolute position in radian