Kosiarka z regulatorem PID / PID controlled lawnmower

Do przepustnicy jest przymocowane serwo. Sygnał obrotów jest brany z alternatora sprzed mostka prostowniczego. Utrzymuje stałą zadaną liczbę obrotów, niezależnie od obciążenia. Nastawy dobrane eksperymentalnie. 

There is a servo attached to the throttle. The RPM signal is taken from the alternator before the rectifier bridge. It maintains a constant rpm, regardless of load. Settings selected experimentally.

CODE:

#include <Arduino.h>

#include <Servo.h>

#include <PID_v1.h>

#define TACH_PIN 3

#include <Tachometer.h>

Tachometer tacho;

double Setpoint, Input, Output;

PID myPID(&Input, &Output, &Setpoint,1,1,0.125, REVERSE);

#define ERPM 800

#define MAX_SERVO 140

#define MIN_SERVO 70

int potpin = 0;  // analog pin used to connect the potentiometer

int val;    // variable to read the value from the analog pin

int currentFreq = 0;

double sum = 0;

double nanoseconds = 0;

int count = 0;

int currentServo = (MAX_SERVO+MIN_SERVO)/2;

double currentRPM = 0;

double LRPM = 0;

int bck1, bck2, bck3, bck4;

Servo myservo;  // create servo object to control a servo

void isr() {

  tacho.tick();   // сообщаем библиотеке об этом

}

void setup() {

  // пин тахометра вентилятора подтягиваем к VCC

  pinMode(TACH_PIN, 0);

  // настраиваем прерывание

  attachInterrupt(digitalPinToInterrupt(3), isr, FALLING);

  Setpoint = 800;

  //turn the PID on

  myPID.SetMode(AUTOMATIC);

  Serial.begin(9600);

   Serial.println("start setuu");

   Serial.println("pinMode 13 1");

  pinMode(13,1);

   Serial.println("zapalam diode");

  digitalWrite(13,1);

  Serial.println("attaching servo");

  myservo.attach(11);  // attaches the servo on pin to the servo object

 

 Serial.println("servo min");

  myservo.write(MIN_SERVO);  

  delay(500);

 Serial.println("servo center");

  myservo.write((MAX_SERVO+MIN_SERVO)/2);  

  delay(500);

   Serial.println("diode gasze");

  digitalWrite(13,0);

   Serial.println("koniec setupu");

   bck1 = TCCR0A;

   bck2 = TCCR0B;

  bck3 = TCCR1A;

   bck4 = TCCR1B;

   

}

void loop() {

    //Serial.println(tacho.getRPM());     // RPM

    //Serial.println(tacho.getHz());    // Hz

    //Serial.println(tacho.Us());       // us

currentRPM = (3*currentRPM + (tacho.getHz()*2.0))/4.0;

  //if(currentRPM < 750 && val > MIN_SERVO) val--;

  //if(currentRPM > 850 && val < MAX_SERVO) val++;

  //if(currentRPM < 20) val = (MAX_SERVO+MIN_SERVO)/2;

  //if(currentRPM > 1800) val = MAX_SERVO;

  Input = (currentRPM+LRPM)/2.0;

  myPID.Compute();

  val = map(Output, 0, 255, MIN_SERVO, MAX_SERVO);

  if(val > MAX_SERVO) val = MAX_SERVO;

  if(val < MIN_SERVO) val = MIN_SERVO;

Serial.print(Input);

Serial.print("  ");

Serial.print(Output);

Serial.print("  ");

Serial.println(val);

  myservo.write(val);                  // sets the servo position according to the scaled value

  digitalWrite(13,1);

  delay(50);                           // waits for the servo to get there

  digitalWrite(13,0);

  delay(50);

LRPM = currentRPM;

}