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开发了一套基于PID控制算法的实验教学平台,由电机、编码器的硬件架构及驱动电路、ARM内核片上系统、PID算法和上位机仿真软件等组成。平台能够仿真上位机算法并选择最佳运动状态的PID参数,片上系统产生控制信号驱动倒立摆的电机验证其结果,上位机实时显示相关参数及运动状态。经实践教学,学生在平台中通过独立完成对PID控制算法计算和查看倒立摆的运转。同时该平台能调动学生兴趣,提高实践动手能力,有助于深化理论教学,让实验不再是乏味无趣的一门课程。
A set of experimental teaching platform based on PID control algorithm is developed. It consists of the hardware structure of the motor and encoder, the driving circuit, ARM core chip system, PID algorithm and PC simulation software. The platform can simulate the host computer algorithm and select the PID parameter of the best motion state. The on-chip system generates the control signal to drive the motor of the inverted pendulum to verify the result. The upper computer real-time displays related parameters and motion states. Through practical teaching, students in the platform through independent completion of the PID control algorithm to calculate and view the inverted pendulum operation. At the same time, the platform can mobilize students’ interests and improve practical ability, which can help deepen the theory teaching and make the experiment not a tedious and boring course.