摘要
自平衡小车的原理与倒立摆类似,通常使用PID算法对其进行控制,但在参数调校方面往往只能依靠经验来进行,通过目测来判断参数大小,具有较强的主观性。基于此种情况,提出了一种利用上位机来进行更为精确的调整参数的方法,对进一步提高小车的性能有一定的帮助。同时,通过上位机的图像显示,可以更加准确地观察到PID各参数变化对系统带来的不同影响,对理论教学也有一定的参考意义。
The principle of self-balancing vehicle is similar to inverted pendulum,which is usually controlled with PID algorithm.In terms of parameter adjustment,it can only rely on experience.It has strong subjectivity through visual inspection to determine the pa-rameters.Based on this situation,this paper puts forward a method to adjust the parameters more accurately by using the upper com-puter,which is helpful to further improve the performance of the vehicle.At the same time,through the image display on upper com-puter,we can more accurately observe the different influence on the system by the change of PID parameters,and it also has certain reference significance to the theory teaching.
作者
王跃
WANG Yue(Jilin Dongguang Group Co.,LTD.,Changchun 130103,Jilin)
出处
《电脑与电信》
2022年第9期63-68,共6页
Computer & Telecommunication
