BalBot a Self-Balancing Robot Modern acceleration sensors ease the construction process

摘要

In contrast to technology and science, in everyday life a distinction is rarely made between regulation and control. A mere control system does not monitor the output value, meaning that it can change due to external disturbances. A simple and typical example is the speed control of a DC motor by PWM. Here, the speed of the motor is also influenced by load fluctuations. Now to the control: If a speed is to be kept constant, feedback is required, for example to adjust a controlling PWM or DC voltage depending on the speed deviation. Such a feedback system characterizes a control loop. Control therefore means that the output variable (e.g. speed) is captured and, in the event of a deviation from the target value, the manipulated variable (here the PWM) is changed accordingly. The central terms are: 1. Actual value: x 2. Required value: w 3. Control deviation: e = w - x 4. Manipulated variable: y 5. Disturbance variable: z These variables are sufficient to describe a controller. There are also controller types with different control characteristics. The PID controller is very common and covers many cases. It has a proportional (P) as well as an integral (I) and a differential (D) path. By adjusting its parameters, many control engineering problems can be solved with high precision.