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Pid Position Controller Code

The document describes an ANSI C program that implements a PID controller to control the speed of a motor using encoder feedback. The program reads encoder values from an NI DAQ device and calculates the control signal to drive the motor's speed to a desired setpoint by minimizing error over time. It continuously calculates the proportional, integral, and derivative terms and outputs PWM pulses to the motor in a feedback loop.

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35 views3 pages

Pid Position Controller Code

The document describes an ANSI C program that implements a PID controller to control the speed of a motor using encoder feedback. The program reads encoder values from an NI DAQ device and calculates the control signal to drive the motor's speed to a desired setpoint by minimizing error over time. It continuously calculates the proportional, integral, and derivative terms and outputs PWM pulses to the motor in a feedback loop.

Uploaded by

phandu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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/*********************************************************************

* ANSI C Example program:


* one motor pid controller + Read Encoder
*********************************************************************/

#include <stdio.h>
#include <NIDAQmx.h>
#include <math.h>
#include <windows.h> // for timer
#define pi 3.14159265358979

#define DAQmxErrChk(functionCall) if( DAQmxFailed(error=(functionCall)) )


goto Error; else

int main(void)
{
LARGE_INTEGER frequency; // ticks per second
LARGE_INTEGER t1,t0; // ticks
double Time;

int32 error=0;
char errBuff[2048]={'\0'};

int i,j;

TaskHandle taskHandle=0;
uInt8 data[8]={0};

TaskHandle taskHandle1=0;
int32 read1[1000];
float64 data1[1000]={0};

double d=0 ,dd=0,ddd=0 ;


double result,err,act=0,act2=0,sum=0,eold=0,derror,dt=0,told=0;

// DAQmx Configure Code


DAQmxErrChk (DAQmxCreateTask("",&taskHandle));
DAQmxErrChk
(DAQmxCreateDOChan(taskHandle,"Dev3/port0/line0:7","",DAQmx_Val_ChanForAllLin
es));

DAQmxErrChk (DAQmxCreateTask("",&taskHandle1));
DAQmxErrChk
(DAQmxCreateCIAngEncoderChan(taskHandle1,"Dev3/ctr0","",DAQmx_Val_X4,0,0.0,DA
Qmx_Val_AHighBHigh,DAQmx_Val_Degrees,1000,0.0,""));
DAQmxErrChk
(DAQmxCfgSampClkTiming(taskHandle1,"/Dev3/PFI8",1000.0,DAQmx_Val_Rising,DAQmx
_Val_ContSamps,1000.0));

// DAQmx Start Code

DAQmxErrChk (DAQmxStartTask(taskHandle));
DAQmxErrChk (DAQmxStartTask(taskHandle1));

QueryPerformanceFrequency(&frequency);
QueryPerformanceCounter(&t0);

while(1){
QueryPerformanceCounter(&t1);

Time = (t1.QuadPart - t0.QuadPart) *1.0 / frequency.QuadPart;

dt=Time-told; //delta t

d=10*sin(2*pi*0.25*Time); // desired mm

result=d/0.35; //convert mm to rev


DAQmxErrChk (DAQmxReadCounterF64(taskHandle1,-1,-
1.0,&data1,1000,&read1,NULL));//read encoder
act=data1[0]/360; //convert degrees to rev
act2=act*0.35; //convert rev to mm

printf( "d1=%f ",act2); // print actual mm

err=result-act;

sum=sum+err;
derror=err-eold;//change of error

ddd=err*0.6*0.058*2000+(0.058*0.6*0.2*sum*dt/0.02)+0.058*0.6*0.02*derror/((dt
)*8); //no of pulses or control signal

if(ddd>0)
{
data[1]=1;
dd=ddd;
}
else {
data[1]=0;
dd=-ddd;
}

for(i=1;i<=dd;i++)
{
if(i%2==1)
data[0]=0;
else
data[0]=1;

for(j=0;j<2000;j++); //Delay(3 micro second);

//write pulses
DAQmxErrChk
(DAQmxWriteDigitalLines(taskHandle,1,1,10.0,DAQmx_Val_GroupByChannel,data,NUL
L,NULL));
}
told=Time;
eold=err;

printf( "time=%f \n",Time);

Error:
if( DAQmxFailed(error) )
DAQmxGetExtendedErrorInfo(errBuff,2048);
if( taskHandle!=0 ) {
/*********************************************/
// DAQmx Stop Code
/*********************************************/
DAQmxStopTask(taskHandle);
DAQmxClearTask(taskHandle);
}
if( DAQmxFailed(error) )
printf("DAQmx Error: %s\n",errBuff);
printf("End of program, press Enter key to quit\n");

getchar();
return 0;
}

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