编码器编程实例视频,编码器编程实例

本实例可以向串口输入目标转速，电机通过编码器进行调速，并达到目标转速。输入的目标转速为正或负时，电机转速不同。

1 带霍尔编码器的电机

2 接线

3 实物连接图

4 程序

const unsigned int Motor_PWM=7; const unsigned int L298N_IN1=3; const unsigned int L298N_IN2=4; int value; #include <FlexiTimer2.h> //定时中断 #define ENCODER_A 2 #define ENCODER_B 5 String Target_Value; int Velocity,Count=0; float Velocity_KP =7.2, Velocity_KI =0.68,Target=0; int startPWM=0; int PWM_Restrict=255; void setup() { Serial.begin(9600); Serial.println("/*****开始驱动*****/"); pinMode(ENCODER_A,INPUT); pinMode(ENCODER_B,INPUT); pinMode(L298N_IN1,OUTPUT); pinMode(L298N_IN2,OUTPUT); pinMode(Motor_PWM,OUTPUT); FlexiTimer2::set(5, control); //5毫秒定时中断函数,每5s执行一次control函数 FlexiTimer2::start (); //中断使能 attachInterrupt(0, READ_ENCODER_A, CHANGE); } void loop() { while(Serial.available()>0) //检测串口是否接收到了数据 { Target_Value=Serial.readString(); //读取串口字符串 Target=Target_Value.toFloat(); //将字符串转换为浮点型,并将其赋给目标值 Serial.print("目标转速频率:"); //串口打印出设定的目标转速 Serial.println(Target); } } void control() { Velocity=Count; //单位时间内读取位置信息 Count=0; //并清零 value=Incremental_PI_A(Velocity,Target); Set_PWM(value); } void READ_ENCODER_A() { if (digitalRead(ENCODER_A) == HIGH) { if (digitalRead(ENCODER_B) == LOW) Count ; //根据另外一相电平判定方向 else Count--; } else { if (digitalRead(ENCODER_B) == LOW) Count--; //根据另外一相电平判定方向 else Count ; } } int Incremental_PI_A (int Encoder,int Target) { float Bias; static float PWM=0,Last_bias=0; Bias=Target-Encoder; //计算偏差 PWM =Velocity_KP*(Bias-Last_bias) Velocity_KI*Bias; //增量式PI控制器 if(PWM>PWM_Restrict)PWM=PWM_Restrict; //限幅 if(PWM<-PWM_Restrict)PWM=-PWM_Restrict; //限幅 Last_bias=Bias; //保存上一次偏差 return PWM; //增量输出 } void Set_PWM(int motora) { if (motora > 0) { digitalWrite(L298N_IN1,HIGH); digitalWrite(L298N_IN2,LOW); analogWrite(Motor_PWM, motora startPWM); } else if(motora == 0) { digitalWrite(L298N_IN1,LOW); digitalWrite(L298N_IN2,LOW); } else if (motora < 0) { digitalWrite(L298N_IN1,LOW); digitalWrite(L298N_IN2,HIGH); analogWrite(Motor_PWM, -motora startPWM); } }

5 实验效果