Tricopter stabilisieren

[Che Guevara]

Hallo,

mein Tricopter funktioniert eigentlich ganz gut, jedoch wenn ich zu stark steuere, dann fängt er kurz an stark zu Taumeln! Wie kann ich dieses Taumeln unterdrücken? Mit dem D-Anteil? Allerdings weiß ich nicht, ob ich diesen positiv oder negativ einstellen soll? Habe schon beide Varianten gesehen! Kann mir jemand erklären, wo der Unterschied liegt? Habe leider nichts im Internet darüber gefunden..
Hier der Code:

$regfile = "m328pdef.dat"
$crystal = 16000000
$framesize = 200
$hwstack = 200
$swstack = 200
$baud = 38400


Open "COMC.2:19200,8,N,1" For Input As #1
Open "COMC.3:19200,8,N,1" For Output As #2



Declare Sub Failsave()

Declare Sub Init_system()

Declare Sub Filter_gyro_data()
Declare Sub Filter_rx_data()
Declare Sub Mixer()
Declare Sub Send_data()

Declare Sub Pid_regulator()

Declare Sub Wmp_init()
Declare Sub Send_zero()
Declare Sub Read_wmp_data()
Declare Sub Set_wmp_offset()



$lib "I2C_TWI.LBX"
Config Scl = Portc.5                                        '0
Config Sda = Portc.4                                        '1
Config Twi = 100000
I2cinit


Config Timer1 = Timer , Prescale = 1
On Timer1 Pausedetect
Enable Timer1

Config Int0 = Falling
On Int0 Measure
Enable Int0


Config Pind.2 = Input
Portd.2 = 0


Config Timer2 = Timer , Prescale = 64
Timer2 = 6
On Timer2 Send_info
Disable Timer2
Stop Timer2
'Start Timer2
'Enable Timer2

Dim _timer2_counter As Word


'####################################
'###########KONSTANTEN###############
'####################################
Const _maxchannel = 4
Const Start_byte = 127


Dim _yaw_kp As Integer
Dim _roll_kp As Integer
Dim _pitch_kp As Integer

Dim _yaw_ki As Integer
Dim _roll_ki As Integer
Dim _pitch_ki As Integer

Dim _yaw_kd As Integer
Dim _roll_kd As Integer
Dim _pitch_kd As Integer


_yaw_kp = 10                                                '10
_roll_kp = 4                                                '4
_pitch_kp = 8                                               '8

_yaw_ki = 5                                                 '5
_roll_ki = 9                                                '9  'evtl. i groesser!!!
_pitch_ki = 13                                              '13

_yaw_kd = 0                                                 '0
_roll_kd = -4                                               '-4
_pitch_kd = -4                                              '-4


Const _bl1offset = 0
Const _bl2offset = 0
Const _bl3offset = 0
Const _bl4offset = 100
'###################################
'###################################
'###################################


'###################################
'#########FAILSAVE##################
'###################################
Dim _failsave As Word
Dim _motor_stop As Bit
'###################################
'###################################
'###################################


'###################################
'#########RC-EMPFÄNGER##############
'###################################
Dim Bufferbyte As Byte
Dim Kanal(_maxchannel) As Word
Dim Channel As Byte
Dim _bl(_maxchannel) As Word
Dim I As Byte
Dim _crc As Word
Dim _sbl(_maxchannel) As Integer

Dim _empfmiddle(_maxchannel) As Word
Dim _empfmin(_maxchannel) As Word
Dim _empfmax(_maxchannel) As Word
Dim _empfdiv(_maxchannel) As Word
Dim _stick_sensitivy(_maxchannel) As Word
'###################################
'###################################
'###################################


'###################################
'###########I2C-Inputs##############
'###################################
Dim Wmplus_buffer(6) As Byte
'###################################
'###################################
'###################################


'###################################
'#########GYRO######################
'###################################
Dim Yaw As Word
Dim Yaw0 As Byte At Yaw + 1 Overlay
Dim Yaw1 As Byte At Yaw Overlay

Dim Roll As Word
Dim Roll0 As Byte At Roll + 1 Overlay
Dim Roll1 As Byte At Roll Overlay

Dim Pitch As Word
Dim Pitch0 As Byte At Pitch + 1 Overlay
Dim Pitch1 As Byte At Pitch Overlay

Dim _yawoffset As Long
Dim _rolloffset As Long
Dim _pitchoffset As Long

Dim _yawoffset_int As Integer
Dim _rolloffset_int As Integer
Dim _pitchoffset_int As Integer

Dim _yawnow As Integer
Dim _rollnow As Integer
Dim _pitchnow As Integer
'###################################
'###################################
'###################################


'##################################
'#########PID-REGLER###############
'##################################
Dim _yaw_kp_err As Integer
Dim _roll_kp_err As Integer
Dim _pitch_kp_err As Integer

Dim _yaw_ki_err As Integer
Dim _roll_ki_err As Integer
Dim _pitch_ki_err As Integer

Dim _yaw_ki_sum As Integer
Dim _roll_ki_sum As Integer
Dim _pitch_ki_sum As Integer

Dim _yaw_kd_err As Integer
Dim _roll_kd_err As Integer
Dim _pitch_kd_err As Integer

Dim _yaw_kd_old As Integer
Dim _roll_kd_old As Integer
Dim _pitch_kd_old As Integer

Dim _yaw_pid As Integer
Dim _roll_pid As Integer
Dim _pitch_pid As Integer

Dim _yaw_err As Integer
Dim _roll_err As Integer
Dim _pitch_err As Integer
'#################################
'#################################
'#################################


'#################################
'#########IIR-FILTER##############
'#################################
Dim _yaw_filter As Integer
Dim _yaw_filter_2 As Integer
Dim _roll_filter As Integer
Dim _roll_filter_2 As Integer
Dim _pitch_filter As Integer
Dim _pitch_filter_2 As Integer

Dim _sbl_filter(4) As Integer
Dim _sbl_filter_2(4) As Integer
'#################################
'#################################
'#################################

Wait 2

Call Init_system()

Enable Interrupts



Do


 'Call Failsave
 Call Filter_rx_data()
 Call Filter_gyro_data()
 Call Pid_regulator()
 '_motor_stop = 1
 Call Mixer()
 Call Send_data()


Loop


Sub Filter_gyro_data()
 Call Read_wmp_data()

 _yawnow = Yaw - _yawoffset_int
 _rollnow = Roll - _rolloffset_int
 _pitchnow = Pitch - _pitchoffset_int
End Sub


Sub Filter_rx_data()

 For I = 1 To 4
  _sbl(i) = Kanal(i) - _empfmiddle(i)
  _sbl(i) = _sbl(i) / _empfdiv(i)
 Next I

 '_sbl(2) = _sbl(2) * -1
 '_sbl(3) = _sbl(3) * -1
 '_sbl(4) = _sbl(4) * -1

 _sbl(2) = _sbl(2) * 10                                     'PITCH
 _sbl(2) = _sbl(2) / 110                                    '110

 _sbl(3) = _sbl(3) * 10                                     'ROLL
 _sbl(3) = _sbl(3) / 110                                    '130

 _sbl(4) = _sbl(4) * 10                                     'YAW
 _sbl(4) = _sbl(4) / 30                                     '30

 'IIR-Filter
 'filter_wert = filter_wert * s + wert * (1.0-s)
'(
 For I = 1 To 4
  _sbl_filter(i) = _sbl_filter(i) * 6
  _sbl_filter(i) = _sbl_filter(i) / 10
  _sbl_filter_2(i) = _sbl(i) * 4
  _sbl_filter_2(i) = _sbl_filter_2(i) / 10
  _sbl_filter(i) = _sbl_filter(i) + _sbl_filter_2(i)
  _sbl(i) = _sbl_filter(i)
 Next I
')
End Sub


Measure:
If Channel > 0 And Channel < 5 Then
  Kanal(channel) = Timer1
End If
Timer1 = 1536
Incr Channel
Return

Pausedetect:
Channel = 0
Return


Sub Wmp_init()
   I2cstart
   I2cwbyte &HA6
   I2cwbyte &HFE
   I2cwbyte &H04
   I2cstop
End Sub

Sub Send_zero()
   I2cstart
   I2cwbyte &HA4
   I2cwbyte &H00
   I2cstop
End Sub

Sub Read_wmp_data()
   Gosub Send_zero
   I2creceive &HA4 , Wmplus_buffer(1) , 0 , 6
   Yaw1 = Wmplus_buffer(1)
   Roll1 = Wmplus_buffer(2)
   Pitch1 = Wmplus_buffer(3)
   Shift Wmplus_buffer(4) , Right , 2 : Yaw0 = Wmplus_buffer(4)
   Shift Wmplus_buffer(5) , Right , 2 : Roll0 = Wmplus_buffer(5)
   Shift Wmplus_buffer(6) , Right , 2 : Pitch0 = Wmplus_buffer(6)
   Shift Yaw , Right , 2
   Shift Roll , Right , 2
   Shift Pitch , Right , 2

   'IIR-Filter
   'filter_wert = filter_wert * s + wert * (1.0-s)
'(
    _yaw_filter = _yaw_filter * 4
    _yaw_filter = _yaw_filter / 10
    _yaw_filter_2 = Yaw * 6
    _yaw_filter_2 = _yaw_filter_2 / 10
    _yaw_filter = _yaw_filter + _yaw_filter_2
    Yaw = _yaw_filter

    _roll_filter = _roll_filter * 4
    _roll_filter = _roll_filter / 10
    _roll_filter_2 = Roll * 6
    _roll_filter_2 = _roll_filter_2 / 10
    _roll_filter = _roll_filter + _roll_filter_2
    Roll = _roll_filter

    _pitch_filter = _pitch_filter * 4
    _pitch_filter = _pitch_filter / 10
    _pitch_filter_2 = Pitch * 6
    _pitch_filter_2 = _pitch_filter_2 / 10
    _pitch_filter = _pitch_filter + _pitch_filter_2
    Pitch = _pitch_filter
')
End Sub

Sub Set_wmp_offset()
   _yawoffset = 0
   _rolloffset = 0
   _pitchoffset = 0
   For I = 1 To 100
      Waitms 5
      Call Read_wmp_data()
      _yawoffset = _yawoffset + Yaw
      _rolloffset = _rolloffset + Roll
      _pitchoffset = _pitchoffset + Pitch
   Next I
   _yawoffset = _yawoffset / 100
   _rolloffset = _rolloffset / 100
   _pitchoffset = _pitchoffset / 100
   _yawoffset_int = _yawoffset
   _rolloffset_int = _rolloffset
   _pitchoffset_int = _pitchoffset
End Sub

Sub Pid_regulator()
'##############FEHLER_BERECHNEN##########
 _yaw_err = _sbl(4) / 1
 _yaw_err = _yaw_err - _yawnow

 _roll_err = _sbl(3) / 1
 _roll_err = _roll_err - _rollnow

 _pitch_err = _sbl(2) / 1
 _pitch_err = _pitch_err - _pitchnow

'##############PROPORTIONAL##############
 _yaw_kp_err = _yaw_err * _yaw_kp
 _yaw_kp_err = _yaw_kp_err / 20                             '20

 _roll_kp_err = _roll_err * _roll_kp
 _roll_kp_err = _roll_kp_err / 20

 _pitch_kp_err = _pitch_err * _pitch_kp
 _pitch_kp_err = _pitch_kp_err / 20

'##############INTEGRAL##################
 _yaw_ki_err = _yaw_err * _yaw_ki
 _yaw_ki_err = _yaw_ki_err / 2000                           '2000
 _yaw_ki_sum = _yaw_ki_sum + _yaw_ki_err

 _roll_ki_err = _roll_err * _roll_ki
 _roll_ki_err = _roll_ki_err / 2000
 _roll_ki_sum = _roll_ki_sum + _roll_ki_err

 _pitch_ki_err = _pitch_err * _pitch_ki
 _pitch_ki_err = _pitch_ki_err / 2000
 _pitch_ki_sum = _pitch_ki_sum + _pitch_ki_err

'##############DIFFERENNTIAL#############
 _yaw_kd_err = _yaw_err * _yaw_kd
 _yaw_kd_err = _yaw_kd_err / 4000                           '4000
 _yaw_kd_err = _yaw_kd_old - _yaw_kd_err
 _yaw_kd_old = _yaw_kd_err

 _roll_kd_err = _roll_err * _roll_kd
 _roll_kd_err = _roll_kd_err / 4000
 _roll_kd_err = _roll_kd_old - _roll_kd_err
 _roll_kd_old = _roll_kd_err

 _pitch_kd_err = _pitch_err * _pitch_kd
 _pitch_kd_err = _pitch_kd_err / 4000
 _pitch_kd_err = _pitch_kd_old - _pitch_kd_err
 _pitch_kd_old = _pitch_kd_err

'##############AUFSUMMIEREN##############
 _yaw_pid = _yaw_kp_err + _yaw_ki_sum
 _yaw_pid = _yaw_pid + _yaw_kd_err

 _roll_pid = _roll_kp_err + _roll_ki_sum
 _roll_pid = _roll_pid + _roll_kd_err

 _pitch_pid = _pitch_kp_err + _pitch_ki_sum
 _pitch_pid = _pitch_pid + _pitch_kd_err

'###############WERTE_BEGRENZEN##########
 If _yaw_pid < -1000 Then _yaw_pid = -1000
 If _yaw_pid > 1000 Then _yaw_pid = 1000
 If _roll_pid < -1000 Then _roll_pid = -1000
 If _roll_pid > 1000 Then _roll_pid = 1000
 If _pitch_pid < -1000 Then _pitch_pid = -1000
 If _pitch_pid > 1000 Then _pitch_pid = 1000
End Sub


Sub Mixer()
 _bl(1) = 62667 - _sbl(1)
 _bl(2) = _bl(1)
 _bl(3) = _bl(1)
 _bl(4) = 62667

 _bl(1) = _bl(1) + _bl1offset
 _bl(2) = _bl(2) + _bl2offset
 _bl(3) = _bl(3) + _bl3offset
 _bl(4) = _bl(4) + _bl4offset

 If _sbl(1) > -920 Then
  _bl(1) = _bl(1) + _pitch_pid
  _bl(2) = _bl(2) - _roll_pid
  _bl(3) = _bl(3) + _roll_pid
  _pitch_pid = _pitch_pid / 2                               '############
  _bl(2) = _bl(2) - _pitch_pid                              '############
  _bl(3) = _bl(3) - _pitch_pid                              '############
 Else
  _bl(1) = 63800
  _bl(2) = 63800
  _bl(3) = 63800
  _yaw_kp_err = 0
  _yaw_ki_sum = 0
  _yaw_kd_err = 0
  _roll_kp_err = 0
  _roll_ki_sum = 0
  _roll_kd_err = 0
  _pitch_kp_err = 0
  _pitch_ki_sum = 0
  _pitch_kd_err = 0
 End If

 If _motor_stop = 1 Then
  _bl(1) = 63800
  _bl(2) = 63800
  _bl(3) = 63800
  _bl(4) = 62667 + _bl4offset
 End If

 _bl(4) = _bl(4) - _yaw_pid

End Sub


Sub Send_data()
  _crc = Crc16(_bl(1) , 4)
  Printbin Start_byte ; _bl(1) ; _bl(2) ; _bl(3) ; _bl(4) ; _crc
  Incr _timer2_counter
  If _timer2_counter = 20 Then
   _timer2_counter = 0
   'Print #2 , _sbl(1) ; ":" ; _sbl(2) ; ":" ; _sbl(3) ; ":" ; _sbl(4)
   'Print #2 , _yaw_kp ; ":" ; _roll_kp ; ":" ; _pitch_kp
   'Print #2 , _yaw_pid ; ":" ; _roll_pid ; ":" ; _pitch_pid
   'Print #2 , "ROLL: " ; _roll_kp_err ; ":" ; _roll_ki_sum ; ":" ; _roll_kd_err ;
   'Print #2 , "PITCH: " ; _pitch_kp_err ; ":" ; _pitch_ki_sum ; ":" ; _pitch_kd_err ;
   'Print #2 , "_______________"
  End If
End Sub

Sub Init_system()
_stick_sensitivy(1) = 2265
_stick_sensitivy(2) = 2000
_stick_sensitivy(3) = 2000
_stick_sensitivy(4) = 2200                                  '1800

_empfmiddle(1) = 24500                                      '26500
_empfmiddle(2) = 23200                                      '23800
_empfmiddle(3) = 24950                                      '25300
_empfmiddle(4) = 22800                                      '22250

_empfmin(1) = 14300
_empfmin(2) = 14650
_empfmin(3) = 17100
_empfmin(4) = 14750

_empfmax(1) = 32300
_empfmax(2) = 32600
_empfmax(3) = 32600
_empfmax(4) = 30500

_yawnow = 0
_rollnow = 0
_pitchnow = 0


_failsave = 0
Reset _motor_stop


For I = 1 To 4
 _empfdiv(i) = _empfmiddle(i) - _empfmin(i)
 _empfdiv(i) = _empfdiv(i) / _stick_sensitivy(i)            '2265
 _empfdiv(i) = _empfdiv(i) * 2
Next I


Call Wmp_init()
Wait 1
For I = 1 To 50                                             'the first measurements are trash!
Call Read_wmp_data()
Next I
Wait 1
Call Set_wmp_offset()

End Sub

Sub Failsave()
If Channel > 11 Then
Incr _failsave
Else
Decr _failsave
End If
If _failsave > 65000 Then _failsave = 55
If _failsave > 50 Then Set _motor_stop
If _failsave < 50 Then Reset _motor_stop
End Sub


Send_info:
Timer2 = 6
Incr _timer2_counter
If _timer2_counter = 500 Then
_timer2_counter = 0
'Print #2 , _rolloffset_int ; ":" ; _rollnow ; ":" ; _roll_pid
'Print #2 , _sbl(1) ; ":" ; _sbl(2) ; ":" ; _sbl(3) ; ":" ; _sbl(4)
Print #2 , _yaw_pid ; ":" ; _roll_pid ; ":" ; _pitch_pid
End If
Return

End

Vielen Dank und Gruß
Chris