Before tossing the digital PID motor control, I want to get another magnetic levitation device of the analog circuit to deepen the understanding of PID. This magnetic levitation means that a magnet is suspended under an electromagnet. It is a pull-down type, which is relatively simple, but it is also a thing that exercises your hands-on ability. Let me talk about PID first. The PID algorithm was first invented based on the crew's behavior in controlling the ship. The early modules were all analog circuits, and only then slowly transitioned to digital circuits. Take a look at the following module, which is really the essence of technology at the time: The PID controller is composed of a proportional unit (P), an integral unit (I) and a differential unit (D). The relationship between its input e(t) and output u(t) is u(t)=kp[e(t)+1/TI∫e(t)dt+TD*de(t)/dt] where the upper and lower limits of the integral are 0 and t respectively Go to Google for the meaning and meaning of specific representatives, and there is no lack of very thorough explanations. Proportional, integral, and differential units are just the typical circuits of op amps, roughly the difference between input and output is first obtained, and three unit circuits can be constructed and added together. So, step by step, this article will first make a circuit with only P, and add I and D at the end, so that there is a comparison and a deeper understanding. Circuit diagram, Hall sensor must be linear, a typical differential ratio calculation circuit: The circuit is very simple, it looks like the following, the dark one is the electromagnet bracket, and the Hall sensor is placed at the bottom (desktop). In the case of only P unit, the magnet vibrates relatively well, and the vibration tends to get bigger and bigger, and finally the magnet falls off, which is in line with the theoretical estimation. OK, come here first, add I and D later to see, then I will post the article. I posted a post about making a magnetic levitation. I took time to make improvements these days and added the PID part. First picture: The schematic diagram is as follows. There are many programs based on single-chip microcomputers on the Internet, but there are not many analog circuits. The principle is not complicated, it is done according to the PID formula. First use the voltage comparison circuit to get the error, that is, the difference between the output voltage value of the Hall device where you want the magnet to stay at po and the actual value returned by the actual Hall device. The following three circuits are connected in parallel, P\I\D, and finally Vout is obtained through the adder. Vout is then added to a fixed input voltage (this fixed voltage is equivalent to the value at which the magnetic force of the electromagnet is equal to the magnet's gravity at the po position, so that it conforms to the principle of PID), which is the final power supply to the electromagnet Voltage.
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