聲音引導(dǎo)系統(tǒng)完整硬件設(shè)計(jì)和源代碼

電機(jī)進(jìn)行前進(jìn)和后退，因此需采用位置式PID控制。

經(jīng)過不斷的測(cè)試，比例，積分，微分常數(shù)目前調(diào)出的最佳參數(shù)如下：

Kp: 1.6 Ki: 2.1 Kd:1.4 具體部分代碼參見附錄。第五章調(diào)試及結(jié)果分析

5.1音頻信號(hào)采集模塊調(diào)試

5.2路程測(cè)量測(cè)試

調(diào)試儀器：20MHz雙蹤示波器、信號(hào)發(fā)生器、數(shù)字萬用表、秒表、米尺等

5.3結(jié)果分析

經(jīng)測(cè)試，在外界干擾不是太強(qiáng)的情況下，可移動(dòng)聲源能夠通過接收器方傳回的數(shù)據(jù)精確地定位，精度在1—3cm.

PID調(diào)試部分代碼：

// define difference : the difference between the latest data and the previous data

// define U0 : the PWM to send to the moto

int main (void)

{

······ // Omitted the previous code

int P = 0 , D = 0 ;

tcount++ ;

CarState.E0 = BitNum ;

if ( CarState.E0 == CarState.E1 ) if ( CarState.E0 == 0 ) FlagD = 0 ;

else if ( CarState.E0 < CarState.E1 ) FlagD = -1 ;

else if ( CarState.E0 > CarState.E1 ) FlagD = 1 ;

P = CarState.E0 * Kp ;

D = Kd * KdS * ( CarState.E0 + 3*CarState.E1 - 3*CarState.E2 - CarState.E3 ) ;

if ( D < - 30 * KdS ) D = -30*KdS ;

else if ( D > 30*KdS ) D = 30*KdS ;

if ( D != 0 ) D_old = D ;

if ( D_old < -10 ) D_old++ ;

else if ( D_old > 10 ) D_old-- ;

if ( (CarState.E0 > -3)&&(CarState.E0 < 3) ) S = 0 ;

else if ( ( FlagD == -1) && ( CarState.E0 <= -1 ) )

if ( S > ( BitNum * BitNum * 20 * KsS ) ) S-- ;

else if ( ( FlagD == -1) && ( CarState.E0 >= -1 ) ) S = 0 ; //

else if ( ( FlagD == 1 ) && ( CarState.E0 <= 1 ) ) S = 0 ; //

else if ( ( FlagD == 1 ) && ( CarState.E0 >= 1 ) )

if ( S < ( BitNum * BitNum * 20 * KsS) ) S++ ; //

u8_pwm_a = U0 + P + ( D_old / KdS )+ ( S / KsS ); // ;

······ // Omitted the following code

}