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本帖最后由 comet1989 于 2013-7-19 16:13 编辑
最近小弟再研究四軸飛行器
想要用arduino mega 2560來做飛控板
因此就開始了其妙的旅程
講到四軸當然要先學會陀螺儀囉~
看過了論壇上幾位高手的文章和網路上一些資料後才做出單軸的程式
先放上code給大家參考
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
#include "PID_v1.h"
#include "Servo.h"
Servo myservo;
MPU6050 accelgyro;
unsigned long now, lastTime = 0;
float dt; //微分时间
/************************************************************/
int16_t ax, ay, az, gx, gy, gz; //加速度计陀螺仪原始数据
float aax=0, aay=0, agx=0, agy=0, agz=0; //角度变量
long axo = 0, ayo = 0, azo = 0; //加速度计偏移量
long gxo = 0, gyo = 0, gzo = 0; //陀螺仪偏移量
float pi = 3.1415926;
float AcceRatio = 16384.0; //加速度计比例系数
float GyroRatio = 131.0; //陀螺仪比例系数
uint8_t n_sample = 8; //加速度计滤波算法采样个数
float aaxs[8] = {0}, aays[8] = {0}; //x,y轴采样队列
long aax_sum, aay_sum; //x,y轴采样和
float a_x[10]={0}, a_y[10]={0} ,g_x[10]={0} ,g_y[10]={0}; //加速度计协方差计算队列
float Px=1, Rx, Kx, Sx, Vx, Qx; //x轴卡尔曼变量
float Py=1, Ry, Ky, Sy, Vy, Qy; //y轴卡尔曼变量
/*****************************************************************/
float Kp=2; //Initial Proportional Gain
float Ki=0; //Initial Integral Gain
float Kd=0; //Initial Differential Gain
float Input, Output;
float Setpoint=0;
int Direction;
PID myPID(&Input, &Output, &Setpoint,Kp,Ki,Kd, DIRECT);
void setup() {
Wire.begin();
Serial.begin(9600);
accelgyro.initialize(); //初始化
unsigned short times = 200; //采样次数
for(int i=0;i<times;i++){
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值
axo += ax; ayo += ay; azo += az; //采样和
gxo += gx; gyo += gy; gzo += gz;
}
axo /= times; ayo /= times; azo /= times; //计算加速度计偏移
gxo /= times; gyo /= times; gzo /= times; //计算陀螺仪偏移
myPID.SetMode(AUTOMATIC);
myservo.attach(5,1000,2000);
delay(2500);
myservo.writeMicroseconds(1000);
delay(2000);
}
void loop(){
MPU6050_Angle();
Input = agx;
myPID.Compute();
// analogWrite(5,Output);
myservo.write(Output);
// delay(15);
/* Serial.print(agx);Serial.print(",");
Serial.print(agy);Serial.println();*/
Serial.print(agx); Serial.print("\t");
Serial.print(agy); Serial.print("\t");
Serial.println(Output);
}
void MPU6050_Angle()
{
unsigned long now = millis(); //当前时间(ms)
dt = (now - lastTime) / 1000.0; //微分时间(s)
lastTime = now; //上一次采样时间(ms)
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值
float accx = ax / AcceRatio; //x轴加速度
float accy = ay / AcceRatio; //y轴加速度
float accz = az / AcceRatio; //z轴加速度
aax = atan(accy / accz) * (-180) / pi; //x轴对于水平面的夹角
aay = atan(accx / accz) * 180 / pi; //y轴对于水平面的夹角
aax_sum = 0; // 对于加速度计原始数据的滑动加权滤波算法
aay_sum = 0;
for(int i=1;i<n_sample;i++){
aaxs[i-1] = aaxs;
aax_sum += aaxs * i;
aays[i-1] = aays;
aay_sum += aays * i;
}
aaxs[n_sample-1] = aax;
aax_sum += aax * n_sample;
aax = (aax_sum / (11*n_sample/2.0)) * 9 / 7.0; //角度调幅至0-90°
aays[n_sample-1] = aay; //此处应用实验法取得合适的系数
aay_sum += aay * n_sample; //本例系数为9/7
aay = (aay_sum / (11*n_sample/2.0)) * 9 / 7.0;
float gyrox = - (gx-gxo) / GyroRatio * dt; //x轴角速度
float gyroy = - (gy-gyo) / GyroRatio * dt; //y轴角速度
agx += gyrox; //x轴角速度积分
agy += gyroy; //x轴角速度积分
/* kalmen start */
Sx = 0; Rx = 0;
Sy = 0; Ry = 0;
for(int i=1;i<10;i++){ //测量值平均值运算
a_x[i-1] = a_x; //即加速度平均值
Sx += a_x;
a_y[i-1] = a_y;
Sy += a_y;
}
a_x[9] = aax;
Sx += aax;
Sx /= 10; //x轴加速度平均值
a_y[9] = aay;
Sy += aay;
Sy /= 10; //y轴加速度平均值
for(int i=0;i<10;i++){
Rx += sq(a_x - Sx);
Ry += sq(a_y - Sy);
}
Rx = Rx / 9; //得到方差
Ry = Ry / 9;
Px = Px + 0.0025; // 0.0025在下面有说明...
Kx = Px / (Px + Rx); //计算卡尔曼增益
agx = agx + Kx * (aax - agx); //陀螺仪角度与加速度计速度叠加
Px = (1 - Kx) * Px; //更新p值
Py = Py + 0.0025;
Ky = Py / (Py + Ry);
agy = agy + Ky * (aay - agy);
Py = (1 - Ky) * Py;
}
接下去就是要做兩軸的控制
如以下影片
請問我應該要怎修改才能做成如影片那樣平衡?
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发表于 2013-7-17 13:16:54
楼主
欢迎欢迎~
