基于STM单片机的平衡车设计研究--以PID算法为主

Research on balanced vehicle design based on STM single chip microcomputer:mainly PID algorithm

系统出现了误差,就要对它进行纠错,让它能按照稳定的状态运行,通常在自动控制理论中,有3种常用的调节手段-P(比例调节)、I(积分调节)、D(微分调节),简单来说,就是把这3种调节手段通过数学方法结合起来组成一个系统完备、逻辑严谨的公式,运用到控制系统中,这就是PID算法。使用PID时我们通常设计3个参数运用到公式中,来体现比例、积分、微分的调节作用,通过控制这3个参数,就可以逐渐调节控制系统使其趋于稳定,达到想要的效果。

If there is any error in the system,it is necessary to correct it so that it can operate in a stable state.Generally,in the automatic control theory,there are three kinds of commonly used adjustment means:P(Proportional Adjustment),I(Integral Adjustment)and D(Differential Adjustment).Simply speaking,the three kinds of adjustment means are combined by mathematical methods to form a complete and logical system Formula,applied to the control system,this is the PID algorithm.When using PID,we usually design three parameters to use in the formula to reflect the regulating effect of proportion,integral and differential.By controlling these three parameters,we can gradually adjust the control system to stabilize it and achieve the desired effect.