PID Controller For Lego Mindstorms Robots （为乐高头脑风暴机器人 PID控制器）.pdfVIP

PID Controller For Lego Mindstorms Robots 4/10/10 7:04 PM A PID Controller For Lego Mindstorms Robots A PID Controller is a common technique used to control a wide variety of machinery including vehicles, robots and even rockets. The complete mathematical description of a PID Controller is fairly complex but a much simpler understanding is really all that is needed to use a PID effectively. This document is a description of how to create a PID Controller for use with Lego Mindstorms Robots using the NXT-G programming language. It will be easier if we have an actual task in mind so I will describe how to create a PID to do line following. Once created, the same PID can be used, with only minor modifications, with any other Mindstorms application such as getting a robot that can drive as straight as possible, or even for a robot that can balance with nothing but 2 wheels touching the ground like a Segway. A PID is really pretty straight forward and the typical description of a PID is easily understood by anyone that has had Calculus. This document is targeted towards First Lego League kids in third through eighth grade. Since there arent many kids that have had Calculus Ill try to build the whole concept up from a very simple starting point without using any Calculus. So lets start with the basic layout of a robot that would be suitable for line following. At the right is a simplified drawing of a top view of the robot with all the details we need. The robot is a differential steer robot with two motors,