使用PIC16F684的软件PID控制的倒立摆
Thepurposeofthisapplicationnoteistodescribehow
aPIC16F684canbeusedtoimplementapositional
Proportional-Integral-Derivative(PID)feedbackcontrol
inaninherentlyunstablesystem.Aninverted
pendulumisusedtodemonstratethistypeofcontrol.
Theinvertedpendulumconsistsofthreemainparts:
thebaseplatform,thependulumandthecontroller
board,asshowninFigure1.AN964SoftwarePIDControlofanInvertedPendulumUsingthePIC16F684Author:JohnCharaisINTRODUCTIONRuanLourensThepurposeofthisapplicationnoteistodescribehowMicrochipTechnologyInc.aPIC16F684canbeusedtoimplementapositionalProportional-Integral-Derivative(PID)feedbackcontrolinaninherentlyunstablesystem.Aninvertedpendulumisusedtodemonstratethistypeofcontrol.Theinvertedpendulumconsistsofthreemainparts:thebaseplatf
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