Other Parts Discussed in Thread: C2000WARE
Tool/software:
Hello, I need help with my senior design project. My senior Design Project goal is to create a PID load controller to provide power to a commercial building using a Battery Energy Storage System to discharge power to the building when it exceeds what the Utility grid can provide. My goal with the F28069M microcontroller is to use an algorithm to be able to tune the real power demand (column C) at a setpoint towards the average, which is 93.62KW. I looked towards serval codes that the DCL libary provides and I am trying to find a code that so I can be able to tune the values accuratley for a fast system response as well as to produce a PWM signal with a Duty cycle that corresponds to the tuned values. The code that I looked towards is the code provided below:
/* Example_F28069_PID.c
*
* Copyright (C) 2020 Texas Instruments Incorporated - http://www.ti.com/
* ALL RIGHTS RESERVED
*
*/
// header files
#include "F2806x_Device.h"
#include "F2806x_Examples.h"
#include "F2806x_GlobalPrototypes.h"
#include "DCLF32.h"
// function prototypes
extern interrupt void control_Isr(void);
// global variables
long IdleLoopCount = 0;
long IsrCount = 0;
float rk = 0.25f;
float yk;
float lk;
float uk;
DCL_PID pid1 = PID_DEFAULTS;
float Duty;
float upperlim = 0.95f;
float lowerlim = 0.05f;
unsigned int clampactive;
/* main */
main()
{
/* initialise system */
InitSysCtrl(); // [F2806x_SysCtrl.c]
DINT; // disable interrupts
IER = 0x0000;
IFR = 0x0000;
InitPieCtrl(); // initialise PIE control registers [F2806x_PieCtrl.c]
InitPieVectTable(); // initialise PIE vector table [F2806x_PieVect.c]
EALLOW;
PieVectTable.ADCINT1 = &control_Isr; // [F28069_PID_cisr.c]
EDIS;
/* configure ePWM1 */
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
EDIS;
InitEPwm(); // [F2806x_EPwm.c]
EPwm1Regs.TBCTL.bit.CTRMODE = 3; // freeze TB counter
EPwm1Regs.TBCTL.bit.PRDLD = 1; // immediate load
EPwm1Regs.TBCTL.bit.PHSEN = 0; // disable phase loading
EPwm1Regs.TBCTL.bit.SYNCOSEL = 3; // disable SYNCOUT signal
EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0; // TBCLK = SYSCLKOUT
EPwm1Regs.TBCTL.bit.CLKDIV = 0; // clock divider = /1
EPwm1Regs.TBCTL.bit.FREE_SOFT = 2; // free run on emulation suspend
EPwm1Regs.TBPRD = 0x2328; // set period for ePWM1 (0x2328 = 10kHz)
EPwm1Regs.TBPHS.all = 0; // time-base Phase Register
EPwm1Regs.TBCTR = 0; // time-base Counter Register
EPwm1Regs.ETSEL.bit.SOCAEN = 1; // enable SOC on A group
EPwm1Regs.ETSEL.bit.SOCASEL = 1; // select SOC from zero match
EPwm1Regs.ETPS.bit.SOCAPRD = 1; // generate pulse on 1st event
EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0; // enable shadow mode
EPwm1Regs.CMPCTL.bit.LOADAMODE = 2; // reload on CTR=zero
EPwm1Regs.CMPA.half.CMPA = 0x0080; // set compare A value
EPwm1Regs.AQCTLA.bit.CAU = AQ_SET; // HIGH on CMPA up match
EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR; // LOW on zero match
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
EDIS;
/* configure ADC */
InitAdc(); // [F2806x_Adc.c]
EALLOW;
AdcRegs.ADCCTL1.bit.INTPULSEPOS = 0; // early interrupt generation
AdcRegs.INTSEL1N2.bit.INT1E = 1; // enabled ADCINT1
AdcRegs.INTSEL1N2.bit.INT1CONT = 0; // disable ADCINT1 continuous mode
AdcRegs.INTSEL1N2.bit.INT1SEL = 1; // setup EOC1 to trigger ADCINT1
AdcRegs.INTSEL1N2.bit.INT2E = 0; // enable ADCINT2
AdcRegs.INTSEL1N2.bit.INT2CONT = 0; // disable ADCINT1 continuous mode
AdcRegs.INTSEL1N2.bit.INT2SEL = 0; // setup EOC1 to trigger ADCINT2
AdcRegs.ADCSOC0CTL.bit.CHSEL = 0; // set SOC0 channel select to ADCINA0
AdcRegs.ADCSOC1CTL.bit.CHSEL = 8; // set SOC1 channel select to ADCINB0
AdcRegs.ADCSOC0CTL.bit.TRIGSEL = 5; // set SOC0 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
AdcRegs.ADCSOC1CTL.bit.TRIGSEL = 5; // set SOC1 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
AdcRegs.ADCSOC0CTL.bit.ACQPS = 6; // set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
AdcRegs.ADCSOC1CTL.bit.ACQPS = 6; // set SOC1 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
EDIS;
/* configure GPIO */
InitGpio(); // [F2806x_Gpio.c]
EALLOW;
GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0; // GPIO34 = I/O pin
GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1; // GPIO34 = output
GpioDataRegs.GPBSET.bit.GPIO34 = 1; // GPIO34 = 1
GpioCtrlRegs.GPBMUX1.bit.GPIO39 = 0; // GPIO39 = I/O pin
GpioCtrlRegs.GPBDIR.bit.GPIO39 = 1; // GPIO39 = output
GpioDataRegs.GPBCLEAR.bit.GPIO39 = 1; // GPIO39 = 0
EDIS;
/* initialise controller variables */
pid1.Kp = 9.0f;
pid1.Ki = 0.015f;
pid1.Kd = 0.35f;
pid1.Kr = 1.0f;
pid1.c1 = 188.0296600613396f;
pid1.c2 = 0.880296600613396f;
pid1.d2 = 0.0f;
pid1.d3 = 0.0f;
pid1.i10 = 0.0f;
pid1.i14 = 1.0f;
pid1.Umax = 1.0f;
pid1.Umin = -1.0f;
rk = 0.25f; // initial value for control reference
lk = 1.0f; // control loop not saturated
/* enable interrupts */
PieCtrlRegs.PIEIER1.bit.INTx1 = 1; // enable PIE INT 1.1 (ADCINT1) - [adcisr]
IER |= M_INT1; // enable core interrupt 1 (ADC) - [control_isr]
SetDBGIER(0x0001); // enable real-time debug interupts
EINT; // enable global interrupt mask
EALLOW;
EPwm1Regs.TBCTL.bit.CTRMODE = 0; // PWM1 timer: count up and start
EDIS;
/* idle loop */
while(1)
{
IdleLoopCount++; // increment loop counter
asm(" NOP");
} // while
} // main
/* control ISR: triggered by ADC EOC */
interrupt void control_Isr(void)
{
PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;
// read ADC channel
yk = ((float) AdcResult.ADCRESULT0 - 2048.0f) / 2047.0f;
// run PID controller
uk = DCL_runPID_C4(&pid1, rk, yk, lk);
// external clamp for anti-windup reset
clampactive = DCL_runClamp_C1(&uk, upperlim, lowerlim);
lk = (clampactive == 0U) ? 1.0f : 0.0f;
// write u(k) to PWM
Duty = (uk / 2.0f + 0.5f) * (float) EPwm1Regs.TBPRD;
EPwm1Regs.CMPA.half.CMPA = (Uint16) Duty;
IsrCount++;
}
/* end of file */
I know this code is able to produce the PWM signal; however, I want a code that is able to provide kp, ki,kd values that are accurate and can correspond with the System. I know this question is very bland, but I am just really stuck and need some assistance with the controller cause I don't have as much experience with the controller or control systems. Attached below is the excel file with the real power demand column highlighted with the values I am trying to tune.
