电机转矩PID控制

PID torque control of motor

本文关键字：控制 PID 电机      更新时间：2023-10-16

我正在尝试控制电机扭矩。这是我试图通过实现对电机电流的PID控制来实现的，因此对PWM。更高的PWM意味着更高的转矩。我是新的arduino-uno，因此需要帮助与编码。我写了一个相同的代码，但有点不确定它的正确性。我仍然不确定要使用的"积分"变量的值。非常感谢任何帮助提前感谢

#include "RunningAverage.h"
 int m1 = 13;
int m2 = 12;
int me = 9;
int t = millis()+5000;
RunningAverage myRA(80);
int stat=0;
int pwmn=100;
int counter=0;
int kP;
int kI=0;
int kD=0;
int SetPt;
int Last;
int Actual;
int Error;
int Integral;
float P;
float I;
float D;
int Drive;
int ScaleFactor;

void motorRight(){
digitalWrite(m1,HIGH);
digitalWrite(m2, LOW);
}

void motorLeft(){
digitalWrite(m2,HIGH);
digitalWrite(m1, LOW);
}
void motorOff(){
digitalWrite(m2, LOW);
digitalWrite(m1, LOW);
}

void motorBrake(){
digitalWrite(m2, HIGH);
digitalWrite(m1, HIGH);
delay(10);
motorOff();
}
void setup() {
// put your setup code here, to run once:
pinMode(m1,OUTPUT);
pinMode(m2,OUTPUT);
pinMode(me,OUTPUT);
analogWrite(me,pwmn);
Serial.begin(115200);
motorRight();
}
void loop() {
// put your main code here, to run repeatedly:
myRA.addValue(analogRead(A1));
Serial.print(myRA.getAverage());
Serial.println(",500,600");
Actual = myRA.getAverage();
Error = SetPt - Actual;
P = Error*kP; // calc proportional term
I = Integral*kI; // integral term
D = (Last-Actual)*kD; // derivative term
Drive = P + I + D; // Total drive = P+I+D
Drive = Drive*ScaleFactor; // scale Drive to be in the range 0-255
//Serial.println(pwmn);
if(counter>10){
if(pwmn<250){
pwmn++;
}
counter=0;
}
counter++;
if (abs(Drive)>255) {
Drive=255;
}
analogWrite (me,Drive); // send PWM command to motor board
Last = Actual; // save current value for next time
// analogWrite(me,pwmn);
delay(50);
}'

你是对的，积分计算错误。积分(Integral)的意思是加起来。你想要的是

I = I + kI*Error;

你还应该限制积分项(I)的最大值和最小值，以避免"上弦"错误。当伺服系统不能达到目标时，就会发生这种情况，因为I项是误差的总和，它可能会失去控制。

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