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楼主 |
发表于 2013-7-19 15:55:42
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目前程式修改的進度- #include "Wire.h"
- #include "I2Cdev.h"
- #include "MPU6050.h"
- #include "PID_v1.h"
- #include "Servo.h"
- Servo myservo;
- Servo myservo1;
- 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
- /**********************************************************************/
- double Kp=0.2; //Initial Proportional Gain
- double Ki=0; //Initial Integral Gain
- double Kd=0; //Initial Differential Gain
- double Input,Output,Output1,Output2,Output1_old=10,Output2_old=10;
- double 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);
- myservo1.attach(6,1000,2000);
- delay(100);
- myservo.writeMicroseconds(1000);
- myservo1.writeMicroseconds(1000);
- delay(2000);
-
- }
-
- void loop(){
- MPU6050_Angle();
- if(agy<0)
- {
- Input = agy;
- myPID.Compute();
- Output1 = Output + 14;
- // Output1_old = Output1;
- Output2 = Output2_old;
- }
- else
- {
- Input = -1 * agy;
- myPID.Compute();
- Output2 = Output + 10.5;
- // Output2_old = Output2;
- Output1 = Output1_old;
- }
- if((Output1)>=180)
- {
- Output1 = 180;
- myservo.write(Output1);
- myservo1.write(Output2);
- }
- else if((Output2)>=180)
- {
- Output2 = 180;
- myservo.write(Output1);
- myservo1.write(Output2);
- }
- else
- {
- myservo.write(Output1);
- myservo1.write(Output2);
- }
- // Output1_old = Output1;
- // Output2_old = Output2;
- // 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.print(Output1); Serial.print("\t");
- Serial.println(Output2);
- }
- 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[i];
- aax_sum += aaxs[i] * i;
- aays[i-1] = aays[i];
- aay_sum += aays[i] * 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[i]; //即加速度平均值
- Sx += a_x[i];
- a_y[i-1] = a_y[i];
- Sy += a_y[i];
- }
- 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[i] - Sx);
- Ry += sq(a_y[i] - 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;
- }
不過還是不能平衡
這邊還要再想看看 |
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楼主: comet1989
发表于 2013-7-19 16:19:48
