Rotary-inverted-pendulum
所属分类：单片机开发
开发工具：Visual C++
文件大小：5134KB
下载次数：82
上传日期：2015-07-18 19:43:05
上 传 者：
hgyy
说明： 基于STM32的简易旋转倒立摆，使用电位器和电机编码器组成双环PID控制，倒立摆稳定效果好，抗干扰能力强。
(Simple rotary inverted pendulum based STM32, potentiometer and motor encoder composition bicyclic PID control, inverted pendulum is good and stable, anti-interference ability.)
文件列表:
旋转倒立摆（mine）\keilkill.bat (399, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\core_cm3.c (17273, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\core_cm3.h (85714, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\startup\startup_stm32f10x_cl.s (15766, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\startup\startup_stm32f10x_hd.s (15503, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\startup\startup_stm32f10x_hd_vl.s (15692, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\startup\startup_stm32f10x_ld.s (12376, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\startup\startup_stm32f10x_ld_vl.s (13656, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\startup\startup_stm32f10x_md.s (12765, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\startup\startup_stm32f10x_md_vl.s (14073, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\startup\startup_stm32f10x_xl.s (15955, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\stm32f10x.h (633941, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\system_stm32f10x.c (36557, 2014-11-22)
旋转倒立摆（mine）\Libraries\CMSIS\system_stm32f10x.h (2085, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\misc.h (8982, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_adc.h (21690, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_bkp.h (7555, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_can.h (27559, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_cec.h (6573, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_crc.h (2162, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_dac.h (15233, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_dbgmcu.h (3818, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_dma.h (20754, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_exti.h (6824, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_flash.h (25445, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_fsmc.h (27016, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_gpio.h (20175, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_i2c.h (30029, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_iwdg.h (3828, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_pwr.h (4383, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_rcc.h (30452, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_rtc.h (3857, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_sdio.h (21863, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_spi.h (17725, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_tim.h (52427, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_usart.h (16548, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\inc\stm32f10x_wwdg.h (2966, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\src\misc.c (7046, 2014-11-22)
旋转倒立摆（mine）\Libraries\FWlib\src\stm32f10x_adc.c (47201, 2014-11-22)
... ...
电机驱动线PB.0 PF.0
PWM使能控制线 PB.5
角速度传感器线 绿(信号线PC1)
主调和副调的反馈方向是一样的，一般，主调和副调都用的负反馈
Kp1 15
Ki1 0
Kd1 150
Kp2 2.7
Ki2 0
Kd2 1
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