【智控万物】PID平衡球
【基于arduino的简易PID控制实验】1、arduino中pid库安装：https://www.arduino.cc/en/Guide/Libraries#toc3
2、演示亮度积分控制
Gravity:模拟环境光线传感器#include <PID_v1.h>
double input;
double output;
double Setpoint;
double Kp=0, Ki=1, Kd=0;
PID myPID(&input, &output, &Setpoint, Kp, Ki, Kd, DIRECT);
void setup() {
Serial.begin(9600);
pinMode(5, OUTPUT);
Setpoint =75;//设置PID的输出值
myPID.SetMode(AUTOMATIC);//设置PID为自动模式
//myPID.SetSampleTime(200);//设置PID采样频率为200ms
//myPID.SetOutputLimits(0,255);
myPID.SetTunings(Kp, Ki, Kd);
}
void loop() {
input = analogRead(A0); // reads the value of the potentiometer (value between 0 and 1023)
input=map(input, 0, 1024, 0, 255);
myPID.Compute();//PID转换完成返回值为1
analogWrite(5,output);
Serial.print(input, 0);Serial.print(" ");Serial.print(output, 0);Serial.print(" ");Serial.println(Setpoint, 0);
}
Ki=1
Ki=2
【平衡球实验】
平衡球实验需要控制舵机，180度大舵机。单独供电。
1、测试舵机
DSS-P05 5.1Kg 机器人专用舵机：舵机采用金属齿轮和双轴承结构，耐磨耐用。在一些负载大或者长期运作的项目上面，能够充分保证项目的稳定性。附带的舵机盘和齿轮能够让你省去很多固定的麻烦。https://www.dfrobot.com.cn/goods-230.html
/*
Controlling a servo position using a potentiometer (variable resistor)
by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
modified on 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Knob
*/
#include <Servo.h>
Servo myservo;// create servo object to control a servo
int potpin = 0;// analog pin used to connect the potentiometer
int val; // variable to read the value from the analog pin
void setup() {
myservo.attach(9);// attaches the servo on pin 9 to the servo object
}
void loop() {
val = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023)
val = map(val, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180)
myservo.write(val); // sets the servo position according to the scaled value
delay(15); // waits for the servo to get there
}
2、传感器使用超声波。平整墙面的有效测距量程为2–500cm。
URM09-模拟量超声波测距传感器：https://www.dfrobot.com.cn/goods-1954.html
测试程序
// # Editor : roker
// # Date : 18.02.2019
// # Product name: URM09 Ultrasonic Sensor(Gravity Analog)(V1.0)
// # Product SKU : SEN0307
// # Version : 1.0
#define MAX_RANG (520)//模块测距极值为520cm(比有效最大量程值略大)
#define ADC_SOLUTION (1023.0)//Arduino UNO 的ADC精度为10bit
int sensityPin = A0; // select the input pin
void setup() {
// Serial init
Serial.begin(9600);
}
float dist_t, sensity_t;
void loop() {
// read the value from the sensor:
sensity_t = analogRead(sensityPin);
// turn the ledPin on
dist_t = sensity_t * MAX_RANG / ADC_SOLUTION;//
Serial.print(dist_t, 0);
Serial.println("cm");
delay(500);
}
3、制作平衡装置
4、程序编写
#include <PID_v1.h>
#include <Servo.h>
#defineMAX_RANG (520)//模块测距极值为520cm(比有效最大量程值略大)
#defineADC_SOLUTION (1023.0)//Arduino UNO 的ADC精度为10bit
int sensityPin = A1; // select the input pin
Servo myservo;// create servo object to control a servo
int val; // variable to read the value from the analog pin
double input;
double output;//用于提供给舵机角度值。
double Setpoint;
double Kp=4, Ki=0.05, Kd=1.5;
PID myPID(&input, &output, &Setpoint, Kp, Ki, Kd,REVERSE);
void setup() {
myservo.attach(9);// attaches the servo on pin 9 to the servo object
Serial.begin(9600);
Setpoint =15;//设置PID的输出值
myPID.SetMode(AUTOMATIC);//设置PID为自动模式
myPID.SetSampleTime(200);//设置PID采样频率为200ms
myPID.SetOutputLimits(0,180);
myPID.SetTunings(Kp, Ki, Kd);
}
float dist_t, sensity_t;
void loop() {
//val = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023)
//val = map(val, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180)
sensity_t = analogRead(sensityPin);
// turn the ledPin on
input = sensity_t * MAX_RANG/ ADC_SOLUTION;//
myPID.Compute();//PID转换完成返回值为1
myservo.write(output); // sets the servo position according to the scaled value
Serial.print(input);Serial.print(" ");Serial.print(output);Serial.print(" ");Serial.println(Setpoint, 0);
}4、调试PID
PID(&Input, &Output, &Setpoint, Kp, Ki, Kd, Direction)
各参数解释请参考：Arduino PID 库函数指南https://blog.csdn.net/ie_jeton/article/details/76913229
调了一个小时，先确定为：double Kp=4, Ki=0.05, Kd=1.5;
5、结果演示视频
https://v.youku.com/v_show/id_XNTA5NTM5NDkyNA==.html
https://v.youku.com/v_show/id_XNTA5NTM5NTQ0MA==.html 厉害！
页:
[1]