旋转倒立摆系统The Arm-driven Inverted Pendulum System内容摘要本文分析了 PID 算法的背景、意义以及 PID 算法的发展状况和未来展望。通过构建一个旋转倒立摆来深入学习、研究 PID 算法在闭环控制系统中起到的作用。通过观察 PID 对倒立摆摆杆角度的影响来迅速加深对 PID 的理解。在分析完一环 PID 之后再深入到双环 PID 控制，由浅入深地分析 PID 在没有人工干预的情况下对闭环旋转倒立摆的影响。对于旋转倒立摆系统方面。本文采用了精度非常高的 WDD35D-4精密导电塑料电位器、最高工作频率为 72Hz 且具备 11 个定时器的STM32F1 系列单片机为控制单元、带有编码器的直流减速电机。除了以上基本的硬件外。为了更直观地观察 PID 算法对倒立摆系统的影响以及整定 PID 参数。加入了 OLED 显示屏来实时显示 PID 的参数，且可以实时调整。关键字：PID STM32 单片机 旋转倒立摆 OLED 角位置传感器 直流电机1AbstractThis article analyzes the background and significance of the PID algorithm, as well as the development and future prospects of the PID algorithm. By constructing a rotating inverted pendulum to study in depth and study the role of PID algorithm in closed-loop control system. By observing the influence of PID on the angle of the pendulum of the inverted pendulum, we can quickly deepen our understanding of PID. After analysing the first-loop PID, we will go into the double-loop PID control, and analyze the influence of PID on the closed-loop rotating inverted pendulum without human intervention.For the rotating inverted pendulum system. In this paper, the very high precision WDD35D-4 precision conductive plastic potentiometer, the highest operating frequency of 72Hz and STM32F1 series of single-chip microcomputers with 11 timers are used as the control unit and DC gear motor with encoder. In addition to the above basic hardware. In order to more intuitively observe the influence of the PID algorithm on the inverted pendulum sy...
