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百家汇电脑 发表于 2011-10-17 21:30:23

两轮自平衡小车

//两轮自平衡小车

//IDG330 Mannual, 2mv= 1度/s 的角速率,ad读数1024,3.3v,那么每读数对应 3.223mV,所以每读数对应3.223/2/180*PI= 0.028123弧度/秒
static const double SEMICIRCLE_ARC = 57.29578; /*半圆对应的弧度值*/
static const double GYRO_OPERATOR = 0.028123; /*AD读取的陀螺仪数值对应的弧度算子*/

/*kalman*/
static const double C_0 = 1;
static const double Q_angle=0.001, Q_gyro=0.003, R_angle=0.5, dt=0.005;//注意：dt的取值为kalman滤波器采样时间
double P = {{ 1, 0 },
                  { 0, 1 }};
double Pdot ={ 0,0,0,0};
double q_bias, angle_err, PCt_0, PCt_1, E, K_0, K_1, t_0, t_1;
double angle, angle_dot;

/*sensor*/
double sensorPort = { 0, 1, 2, 3, 4, 5};/*传感器地址,电路决定.accZ,gyroX, AD1, AD2, AD3, AD4*/
double sensorValue;/*传感器的返回值*/

/*传感器零点 0:Z轴(平行轴) 1:陀螺仪中点*/
double sensorZero = {499,505};
double sensorAdjusted;/*传感器的返回值重整*/
//double provAngle;

/*moto*/
int E1 = 6;
int E2 = 9;
int M1 = 7;
int M2 = 8;
double deadAreaCompensation1 = 45,deadAreaCompensation2 = 35;

/*balance*/
double RATE = { 0,0,0,0};/*公式中的4个变量*/
double K = { 60.45, 1.27, 125, 0.75};/*公式中的4个常量*/
double K_AD = { 1, 1, 1, 1};/*公式中的4个常量*/
double wheel_ls;/*左轮:0:编码器 1:位移(position) 2:position_dot 3:position_dot_filter 4:speedNeed 5:turnNeed 6:speedOutPut */
double wheel_rs;/*右轮:0:编码器 1:位移(position) 2:position_dot 3:position_dot_filter 4:speedNeed 5:turnNeed 6:speedOutPut */

double Torque;/*扭矩*/
unsigned int count,count2;
boolean OK=false;//这个是误差达到一定程度后的系统关闭开关.
int bf,X,Y;//从无线端发来的命令

/*kalman*/
/*angle_m:经过atan2(ax,ay)方法计算的偏角,弧度值
gyro_m:经过初步减去零点的陀螺仪角速度值,弧度值
*/
void Kalman_Filter(double angle_m,double gyro_m)
{
angle+=(gyro_m-q_bias) * dt;
angle_err = angle_m - angle;
Pdot=Q_angle - P - P;
Pdot=- P;
Pdot=- P;
Pdot=Q_gyro;
P += Pdot * dt;
P += Pdot * dt;
P += Pdot * dt;
P += Pdot * dt;
PCt_0 = C_0 * P;
PCt_1 = C_0 * P;
E = R_angle + C_0 * PCt_0;
K_0 = PCt_0 / E;
K_1 = PCt_1 / E;
t_0 = PCt_0;
t_1 = C_0 * P;
P -= K_0 * t_0;
P -= K_0 * t_1;
P -= K_1 * t_0;
P -= K_1 * t_1;
angle      += K_0 * angle_err;
q_bias += K_1 * angle_err;
angle_dot = gyro_m-q_bias;//也许应该用last_angle-angle
}

void do_balance() {

sensorValue = analogRead(sensorPort);//Z轴加速度
sensorValue = analogRead(sensorPort);//X轴旋转(陀螺)
sensorValue = analogRead(sensorPort);//旋钮1
sensorValue = analogRead(sensorPort);//旋钮2
sensorValue = analogRead(sensorPort);//旋钮3
sensorValue = analogRead(sensorPort);//旋钮4

//算出整理过的零点值
sensorAdjusted = sensorValue - sensorZero;
if(abs(sensorAdjusted) > 70)//如果倾斜到一定程度,就停机
{
    OK = false;
sensorAdjusted =sensorAdjusted>0, 70,-70;
}
sensorAdjusted = sensorZero - sensorValue;/*减去初始零点*/


/*根据可变电阻改变K的倍数*/
//deadAreaCompensation = (sensorValue+1)/10.24;
//K_AD = (sensorValue+1)/256;//102.4;/*值在0.001~10之间变化.在AD=100的时候接近1 */
//K_AD = (sensorValue+1)/256;//102.4;
//K_AD = (sensorValue+1)/256;//102.4;
//K_AD = (sensorValue+1)/256;//102.4;

/*根据上一周期Torqu的值统计轮子转动积分*/
wheel_ls = Torque > 0, wheel_ls,-wheel_ls;
wheel_rs = Torque > 0, wheel_rs,-wheel_rs;
wheel_ls = wheel_rs = 0;
/*************** balance *********************************************/

/*小车初始状态*/
{
    if(!OK)
    {
      if(abs(sensorAdjusted) <= 3)//小车被推倒平衡位置后才启动电机
      {
      count=0;
      OK = true;
      }
      for(int i = 0; i <7;i++)
      {
      wheel_ls = 0;
      wheel_rs = 0;
      }
    }
}

/*balance*/
{
    /*GYRO_OPERATOR = 0.028123 AD读取的陀螺仪数值对应的弧度算子*/
    Kalman_Filter(atan2(sensorAdjusted, sqrt(10000-sensorAdjusted*sensorAdjusted)), sensorAdjusted * GYRO_OPERATOR);//10000:因为只有一轴加速度计,所以虚拟一个斜边   

RATE = angle * SEMICIRCLE_ARC;//SEMICIRCLE_ARC=57.29578; /*半圆对应的弧度值*/
    RATE = angle_dot * SEMICIRCLE_ARC;
}

/*计算速度 double wheel_ls; 0:编码器累加 1:位移(position) 2:position_dot 3:速度(position_dot_filter) 4:speedNeed 5:turnNeed 6:speedOutPut
*/
{
    wheel_ls *= 0.95;            /*车轮速度滤波,wheel_ls : position_dot_filter*/
    wheel_ls += wheel_ls*0.05; /*wheel_ls : position_dot*/
    wheel_ls += wheel_ls;       /*wheel_ls : position*/
    wheel_ls += wheel_ls;       /*wheel_ls : speedNeed*/
    wheel_ls = max(-50, wheel_ls);
    wheel_ls = min(50, wheel_ls);

    RATE = wheel_ls;//速度--滤波过了
    RATE = wheel_ls;//位置
}

/*Torque 综合所有参数算出扭矩*/
{
    Torque = RATE * K * K_AD + RATE * K * K_AD + RATE * K * K_AD + RATE * K* K_AD;
   
    //根据扭矩算轮子的命令值
   wheel_ls = abs(Torque)+ deadAreaCompensation1;//wheel_ls:扭矩输出 deadAreaCompensation1:左轮的死区补偿
wheel_ls = min(255, wheel_ls);//限制最大扭矩255
    wheel_ls = OK, wheel_ls,0;

wheel_rs = abs(Torque)+ deadAreaCompensation2;
    wheel_rs = min(255, wheel_rs);
    wheel_rs = OK, wheel_rs,0;
}

if(Torque > 0)
{
    digitalWrite(M2, HIGH);
    digitalWrite(M1, LOW);
}
else
{
    digitalWrite(M2, LOW);
    digitalWrite(M1, HIGH);
}
analogWrite(E1, wheel_ls); //PWM调速a==0-255
analogWrite(E2, wheel_rs);
}
void do_msg(){
if(count%100==0)
{
    Serial.print("$CLEAR\r\n");
    Serial.print("$GO 1 1\r\n");
    Serial.print("$PRINT ");

    Serial.print(wheel_ls);
    Serial.print(" ");
    Serial.print(wheel_ls);
    //Serial.print(" ");
    //Serial.print(RATE);
    //Serial.print(K*K_AD);
    //Serial.print(" ");
    //Serial.print(K*K_AD);
    //Serial.print(" ");
    Serial.print("\r\n");

    Serial.print("$GO 2 1\r\n");
    Serial.print("$PRINT ");
    //Serial.print(K*K_AD);
    //Serial.print(" ");
    //Serial.print(K*K_AD);
    //Serial.print(" ");
    //Serial.print(K*K_AD);
    //Serial.print(" ");
    //Serial.print(K*K_AD);
    //Serial.print(count);
    Serial.print(wheel_ls);
    Serial.print(" ");
    Serial.print(wheel_rs);
    //Serial.print(count);
    //Serial.print(Torque);
    Serial.print("\r\n");
}
}
/***************** setup-loop *************************************************/
void setup() {
count=0;
X=Y=8;
bf=-1;
//init motos
for (int i = 6; i <= 9; i++) {
    pinMode(i, OUTPUT);
}
Serial.begin(9600);//115200);
analogReference(EXTERNAL); //设置模拟输入为外部参考3.3V

attachInterrupt(0, blinkone, CHANGE); //设置为0号中断，中断函数blink，触发方式为RISING
attachInterrupt(1, blinktwo, CHANGE); //设置为0号中断，中断函数blink，触发方式为RISING
}
void blinkone()//中断函数
{
wheel_ls ++;
}
void blinktwo()//中断函数
{
wheel_rs ++;
}

void loop() {
do_balance();//计算平衡
do_msg();
delay(3);
count++;
if(count>=60000)
    count=0;
}

xm8888 发表于 2011-11-7 17:26:17

你自己弄的呀！:D:D:D

远远 发表于 2011-11-11 18:16:32

好多地方看不懂啊……高人……………………{:soso_e179:}

davidce 发表于 2011-12-12 22:17:41

又见卡尔曼滤波

donarduino 发表于 2011-12-13 10:32:08

期待实验视频:)

zixo 发表于 2012-2-29 22:14:06

继续学习！

荒野无涯 发表于 2012-12-19 11:42:02

学习中……………………

zuzuhe 发表于 2013-12-10 23:37:56

这个是全部代码吗

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