在Arduino板上实现PID控制器

Posted by盖伊鲁鲁克那April 21, 2013

127意见（过去30天）|0.Likes|20评论

本周我的同事pravallika.又回到了运动控制故事！

Pravallikota Vinnakota，Guest Blogger

在我的以前的帖子，我们看到如何估计连续转移功能System Identification Toolbox。We estimated the following transfer function for a simple DC Motor usingt：

从直流电动机识别的传递功能

For this transfer function, we designed the following controller usingpidtune：

PidTune生成的控制器

我们现在将在Arduino UNO上实施控制器，并了解DC电机如何使用此控制器。要在硬件上部署控制器，我们将使用Simulink的功能生成可执行文件并在所选硬件上运行它。金宝app

将控制器部署到Arduino Board

You probably noticed that the controller shown above is in a continuous form. To use it on our target, the first thing to do is to discretize it using theC2D.功能：

Discretizing the controller generated by pidtune

然后我们抓住了PID块来自Simulin金宝appk库并配置它。

PID块configuration

为了使PID控制器在硬件限制内的输出，我们转到PID高级选项卡并启用输出饱和度以及防风保护。

先进的PID块配置

To test the controller on the hardware, we created a Simulink model using blocks from theArduino支金宝app持包。

As you can see, we receive the desired motor position from the serial port and compare it to the measured position from the Analog Input. The position error goes through the PID block which generates a voltage to be sent to the motor. We also send the measured position through the serial port.

控制器模型用于在Arduino板上使用