【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);

}
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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 <[url]http://people.interaction-ivrea.it/m.rinott>[/url]

 modified on 8 Nov 2013
 by Scott Fitzgerald
 [url]http://www.arduino.cc/en/Tutorial/Knob[/url]
*/

#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
}
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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);

}
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3、制作平衡装置

4、程序编写

#include <PID_v1.h>
#include <Servo.h>
#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 = 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);
                   
}
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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

厉害！