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    發布日期: 2023-10-02
  • 語言: 其他
  • 標簽: 平衡小車??

資源簡介

前幾天一直在整平衡小車,想用這個理解一下pid,并調一調帶編碼盤的電機。 首先談談我對pid算法的理解,剛開始以為平衡小車是采取的串級pid來是小車平衡,就是通過角度算出此時的pwm,在通過這個pwm去當作速度環的入口參數,通過編碼盤來獲取小車的速度控制小車由角度環指定速度下行駛。但通過實踐并不是這樣,速度環和角度環應該是兩個獨立的系統,角度環用來讓小車快速的恢復到平衡狀態,如果初始化陀螺儀時陀螺儀的角度正好重力重合,那么你的小車就會平衡,否則就會向一個方向加速,只至倒下,加上速度環就會解決這一問題,速度環是為了消除小車的位移,讓小車能夠在一定的位移范圍內調整角度,如果下車像一個方向一直加速,那么速度環累計的位移就會越來越大最后達到一定程度,導致小車減速甚至反向到達以前的位置。

資源截圖

代碼片段和文件信息

/**************************************************************************//**
?*?@file?????core_cm3.c
?*?@brief????CMSIS?Cortex-M3?Core?Peripheral?Access?layer?Source?File
?*?@version??V1.30
?*?@date?????30.?October?2009
?*
?*?@note
?*?Copyright?(C)?2009?ARM?Limited.?All?rights?reserved.
?*
?*?@par
?*?ARM?Limited?(ARM)?is?supplying?this?software?for?use?with?Cortex-M?
?*?processor?based?microcontrollers.??This?file?can?be?freely?distributed?
?*?within?development?tools?that?are?supporting?such?ARM?based?processors.?
?*
?*?@par
?*?THIS?SOFTWARE?IS?PROVIDED?“AS?IS“.??NO?WARRANTIES?WHETHER?EXPRESS?IMPLIED
?*?OR?STATUTORY?INCLUDING?BUT?NOT?LIMITED?TO?IMPLIED?WARRANTIES?OF
?*?MERCHANTABILITY?AND?FITNESS?FOR?A?PARTICULAR?PURPOSE?APPLY?TO?THIS?SOFTWARE.
?*?ARM?SHALL?NOT?IN?ANY?CIRCUMSTANCES?BE?LIABLE?FOR?SPECIAL?INCIDENTAL?OR
?*?CONSEQUENTIAL?DAMAGES?FOR?ANY?REASON?WHATSOEVER.
?*
?******************************************************************************/

#include?

/*?define?compiler?specific?symbols?*/
#if?defined?(?__CC_ARM???)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????__inline???????????????????????????????????/*!
#elif?defined?(?__ICCARM__?)
??#define?__ASM???????????__asm???????????????????????????????????????/*!??#define?__INLINE????????inline??????????????????????????????????????/*!
#elif?defined???(??__GNUC__??)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#elif?defined???(??__TASKING__??)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#endif


/*?###################??Compiler?specific?Intrinsics??###########################?*/

#if?defined?(?__CC_ARM???)?/*------------------RealView?Compiler?-----------------*/
/*?ARM?armcc?specific?functions?*/

/**
?*?@brief??Return?the?Process?Stack?Pointer
?*
?*?@return?ProcessStackPointer
?*
?*?Return?the?actual?process?stack?pointer
?*/
__ASM?uint32_t?__get_PSP(void)
{
??mrs?r0?psp
??bx?lr
}

/**
?*?@brief??Set?the?Process?Stack?Pointer
?*
?*?@param??topOfProcStack??Process?Stack?Pointer
?*
?*?Assign?the?value?ProcessStackPointer?to?the?MSP?
?*?(process?stack?pointer)?Cortex?processor?register
?*/
__ASM?void?__set_PSP(uint32_t?topOfProcStack)
{
??msr?psp?r0
??bx?lr
}

/**
?*?@brief??Return?the?Main?Stack?Pointer
?*
?*?@return?Main?Stack?Pointer
?*
?*?Return?the?curren

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????17273??2010-06-07?10:25??平衡小車\CORE\core_cm3.c

?????文件??????85714??2011-02-09?14:59??平衡小車\CORE\core_cm3.h

?????文件??????15503??2018-06-15?22:18??平衡小車\CORE\startup_stm32f10x_hd.s

?????文件??????19342??2012-12-14?11:16??平衡小車\HARDWARE\MPU6050\eMPL\dmpKey.h

?????文件???????6765??2012-12-14?11:16??平衡小車\HARDWARE\MPU6050\eMPL\dmpmap.h

?????文件??????89473??2018-06-14?14:29??平衡小車\HARDWARE\MPU6050\eMPL\inv_mpu.c

?????文件???????4865??2015-01-17?12:09??平衡小車\HARDWARE\MPU6050\eMPL\inv_mpu.h

?????文件??????58387??2014-05-09?12:20??平衡小車\HARDWARE\MPU6050\eMPL\inv_mpu_dmp_motion_driver.c

?????文件???????3538??2012-12-14?11:16??平衡小車\HARDWARE\MPU6050\eMPL\inv_mpu_dmp_motion_driver.h

?????文件???????5003??2018-06-14?18:08??平衡小車\HARDWARE\MPU6050\mpu6050.c

?????文件???????4911??2018-06-14?18:07??平衡小車\HARDWARE\MPU6050\mpu6050.h

?????文件???????2911??2018-06-22?20:03??平衡小車\HARDWARE\MPU6050\mpuiic.c

?????文件???????1480??2018-06-22?20:03??平衡小車\HARDWARE\MPU6050\mpuiic.h

?????文件???????2709??2018-06-20?18:48??平衡小車\HARDWARE\PWM\pwm.c

?????文件????????344??2018-06-20?19:09??平衡小車\HARDWARE\PWM\pwm.h

?????文件???????6962??2018-06-23?08:15??平衡小車\HARDWARE\TIMER\timer.c

?????文件????????749??2018-06-23?07:43??平衡小車\HARDWARE\TIMER\timer.h

?????文件????????399??2011-04-23?10:24??平衡小車\keilkilll.bat

?????文件?????349060??2018-04-04?21:36??平衡小車\OBJ\capture.crf

?????文件???????1709??2018-04-04?21:36??平衡小車\OBJ\capture.d

?????文件?????383244??2018-04-04?21:36??平衡小車\OBJ\capture.o

?????文件???????3939??2018-06-23?08:53??平衡小車\OBJ\core_cm3.crf

?????文件????????101??2018-06-23?08:53??平衡小車\OBJ\core_cm3.d

?????文件??????11340??2018-06-23?08:53??平衡小車\OBJ\core_cm3.o

?????文件?????348299??2018-06-23?08:53??平衡小車\OBJ\delay.crf

?????文件???????1666??2018-06-23?08:53??平衡小車\OBJ\delay.d

?????文件?????384060??2018-06-23?08:53??平衡小車\OBJ\delay.o

?????文件?????????19??2018-06-23?08:03??平衡小車\OBJ\ExtDll.iex

?????文件?????355744??2018-03-31?14:21??平衡小車\OBJ\hcsr.crf

?????文件??????????0??2018-03-31?21:47??平衡小車\OBJ\hcsr.d

............此處省略214個文件信息

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