接线:
1、角位移传感器ADC
ADC1-IN3(PA3):测量角位移传感器数值 0-4095
【PA3接绿线,3V3接红线,GND接黑线】
2、编码器:
TIM3(PC6,PC7):编码器模式输出电机速度
3、电机正负:
TIM11(PF7):PWM模式A
TIM13(PF8):PWM模式B
【PF7-IN4,PF8-IN3】
4、OLED:PB6,PB7
按键:
KEY1:改变Bp,步进10
KEY0:改变Bd,步进10
WKUP:改变模式,依次为暂停,手动起摆,自动起摆。默认暂停
思路:
手动起摆:
1、角度环:给定角位移传感器位于中端位置的数值作为目标值,之后不断测量其值使其接近目标值
2、位置环:测定初始时编码器数值,之后变换不超过一定范围
自动起摆:
1、来回摆动给其足够能量使得其到达指定范围一定时间(次数)
2、进入手动起摆部分
存在失败原因分析:
1、定时器每隔5ms检测一次,自动起摆后不知道再经过多久会进入定时器。如果进入时超过了倒立摆可控的范围,就会失败。
2、起摆最后一部分为以固定占空比转动,并每隔1ms检测一次所在位置,有时起摆失败需更改固定占空比参数
3、电压大小影响
心得:
1、角度中值:开摆后用手固定看摆杆往两个方向掉落的次数,概率一样时数值合理
2、使用低通滤波器的作用是减缓位置差值对平衡的影响,也就是上次位置差值占80% + 这次速度差占20% =此次速度差值。
PS:使用12V稳压电源(不怎么稳)
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