{"id":11201,"date":"2021-06-16T14:25:49","date_gmt":"2021-06-16T06:25:49","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=11201"},"modified":"2022-08-02T17:25:30","modified_gmt":"2022-08-02T09:25:30","slug":"duckietown-db21m-part3","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2021\/06\/16\/duckietown-db21m-part3\/","title":{"rendered":"Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e09) \u2013 PID controller \u7684\u4f7f\u7528"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"3001\" height=\"1581\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/05\/0518_01.jpg\" alt=\"\" class=\"wp-image-11172\"\/><\/figure>\n\n\n\n<p><style>\n\/* ###\u5be6\u9a57\u4e0b\u4e00\u5217### *\/\n\na:link {color:#0695e4\n;}    \/* \u8a2d\u5b9a\u5c1a\u672a\u9ede\u95b1\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\na:visited {color:#0695e4\n;} \/* \u8a2d\u5b9a\u904e\u53bb\u66fe\u7d93\u95b1\u904e\u7684\u9023\u7d50 *\/\na:hover {color:#0695e4\n;}   \/* \u8a2d\u5b9a\u6ed1\u9f20\u6e38\u6a19\u6307\u5728\u9023\u7d50\u4f4d\u7f6e\u4e0a\u7684\u6a23\u5f0f *\/\na:active {color:#0000BB;}  \/* \u8a2d\u5b9a\u4e0a\u9ede\u64ca\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\n<\/style><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u524d\u8a00<\/h2>\n\n\n\n<p>\u5728\u4e0a\u4e00\u7bc7\u6587\u7ae0\u300c<a rel=\"noreferrer noopener\" aria-label=\"Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e8c) - Differential drive configuration \u7684\u4f7f\u7528 (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/?p=10926\" target=\"_blank\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e8c) &#8211; Differential drive configuration \u7684\u4f7f\u7528<\/a>\u300d\u4e2d\uff0c\u6211\u5011\u6210\u529f\u7684\u900f\u904e Differential drive configuration \u8b93 Duckiebot DB21M(\u4ee5\u4e0b\u7686\u7a31\u70ba\u5c0f\u9d28\u8eca)\u63a5\u53d7\u5230\u5f80\u524d\u884c\u7684\u6307\u4ee4\u6642\uff0c\u80fd\u5920\u8d70\u5728\u4e00\u689d\u76f4\u7dda\u4e0a\u3002<\/p>\n\n\n\n<p>\u900f\u904e Differential drive configuration \u9019\u7a2e\u7c21\u5316\u7684\u8f38\u5165\u00f7\u8f38\u51fa\u9a45\u52d5\u6a21\u5f0f\uff0c\u8b93\u6211\u5011\u80fd\u5920\u63a7\u5236\u5c0f\u9d28\u8eca\u7684\u52d5\u4f5c\uff0c\u90a3\u6211\u5011\u662f\u5426\u4e5f\u80fd\u5920\u8a2d\u8a08\u4e00\u500b\u63a7\u5236\u7cfb\u7d71\uff0c\u8b93\u5c0f\u9d28\u8eca\u5728\u81ea\u52d5\u99d5\u99db\u4e2d\uff0c\u505a\u51fa\u6211\u5011\u60f3\u8981\u7684\u53cd\u61c9\u5462\uff1f\u4f8b\u5982\u6839\u64da\u767d\u7dda\u8207\u9ec3\u7dda\u7684\u76f8\u5c0d\u4f4d\u7f6e\uff0c\u81ea\u52d5\u99d5\u99db\u65bc\u5169\u689d\u7dda\u9053\u4e4b\u9593?<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001PID controller<\/h2>\n\n\n\n<p>\u73fe\u5728\u6211\u5011\u5148\u60f3\u50cf\u4e00\u500b\u554f\u984c : \u8981\u600e\u9ebc\u8b93\u4e00\u500b\u78da\u584a\u98db\u8d77\u4f86\u5462\uff1f\u4e00\u500b\u63a7\u5236\u5de5\u7a0b\u5e2b\u4e5f\u8a31\u6703\u9019\u6a23\u56de\u7b54\uff0c\u300c\u900f\u904e\u9019\u7a2e\u63a7\u5236\u65b9\u6cd5\uff0c\u5c31\u53ef\u4ee5\u8b93\u78da\u982d\u98db\u8d77\u4f86\u2500\u2500 \u98db\u6a5f x \u78da\u982d\u00f7\u78da\u982d\u300d\u3002\u78da\u982d\u9805\u76ee\u4e92\u76f8\u62b5\u6d88\uff0c\u53ea\u7559\u4e0b\u98db\u6a5f\uff0c\u800c\u98db\u6a5f\u53c8\u53ef\u4ee5\u98db\uff0c\u9019\u6a23\u4e0d\u5c31\u8b93\u78da\u982d\u98db\u8d77\u4f86\u4e86\uff01<\/p>\n\n\n\n<p>\u85c9\u7531\u9019\u500b\u8b93\u78da\u982d\u98db\u8d77\u4f86\u7684\u7b11\u8a71\u5176\u5be6\u6293\u4f4f\u4e86\u524d\u994b\u63a7\u5236(feedforward control)\u7684\u672c\u8cea\uff1a\u6839\u64da\u64fe\u52d5\u6216\u7d66\u5b9a\u503c\u7684\u8b8a\u5316\u6309\u88dc\u511f\u539f\u7406\u4f86\u9032\u884c\u5de5\u4f5c\u7684\u63a7\u5236\u7cfb\u7d71\u3002\u4f46\u4e8b\u5be6\u4e0a\uff0c\u6a21\u578b\u7684\u4e0d\u78ba\u5b9a\u6027\u8207\u5be6\u969b\u4e0a\u6240\u9047\u5230\u7684\u554f\u984c\uff0c\u6703\u8b93\u5be6\u969b\u8f38\u51fa\u8207\u671f\u671b\u8f38\u51fa\u7684\u7d50\u679c\u6709\u6240\u4e0d\u540c\u3002\u5982\u4e0b\u65b9\u793a\u610f\u5716\uff0c\u539f\u672c\u9810\u671f\u5411\u4e0a\u98db\u884c\u7684\u98db\u6a5f\uff0c\u904e\u7a0b\u4e2d\u537b\u56e0\u70ba\u8a0a\u865f\u5ef6\u9072\u6216\u96dc\u8a0a\u7b49\u5e72\u64fe\u56e0\u7d20\uff0c\u5c0e\u81f4\u98db\u6a5f\u5411\u4e0b\u589c\u843d\u7684\u7d50\u679c\uff0c\u90fd\u6703\u8b93\u6211\u5011\u5728\u89e3\u6c7a\u63a7\u5236\u554f\u984c\u6642\u8b8a\u5f97\u66f4\u52a0\u56f0\u96e3\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/dn3y-qZ91OPmMHRYSiyyhHU_UyPwH0hyzX09B2YexzWJhnUahjtk-Yl49oM1WN45ZUciF6bGP4dw_upaSNbu6S-yqIztulBbjL_1yLgrNMWNIQcPHlCMTLDMeS8x13_a-2d_iXDC\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u70ba\u4e86\u8b93\u63a7\u5236\u7cfb\u7d71\u80fd\u5920\u6709\u66f4\u597d\u7684\u6548\u679c\uff0c\u6709\u4e00\u500b\u975e\u5e38\u53d7\u6b61\u8fce\u7684\u63a7\u5236\u65b9\u6cd5\uff0cProportional Integrative Derivative \uff0c\u7c21\u7a31\u70ba PID \u63a7\u5236\u5668\u4fbf\u56e0\u61c9\u800c\u751f\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote has-text-align-left\"><p><strong> Proportional Integrative Derivative <\/strong><\/p><cite><strong> Proportional \uff08\u6bd4\u4f8b )\u3001\u200bIntegral (\u7a4d\u5206)\u3001Derivative ( \u5fae\u5206)<\/strong><\/cite><\/blockquote>\n\n\n\n<p>\u9019\u662f\u4e00\u500b\u53cd\u994b(feedback)\u63a7\u5236\u65b9\u6cd5\uff0c\u9019\u500b\u63a7\u5236\u7cfb\u7d71\u5373\u4f7f\u5728\u6c92\u6709\u4efb\u4f55\u9810\u5148\u8f38\u5165\u76f8\u95dc\u6a21\u578b\u7684\u60c5\u5f62\u4e0b\uff0c\u4e5f\u80fd\u5920\u6b63\u5e38\u904b\u4f5c\u3002<\/p>\n\n\n\n<p>\u5728 PID \u63a7\u5236\u65b9\u6cd5\u4e2d\uff0c\u662f\u7531\u4e09\u500b\u7dda\u6027\u8a0a\u865f\u7d44\u5408\u800c\u6210\u7684\uff0c\u5206\u5225\u662f\uff1a<\/p>\n\n\n\n<ol><li>tracking error (\u8ffd\u8e64\u8aa4\u5dee)<\/li><li>integral tracking error (\u7a4d\u5206\u8ffd\u8e64\u8aa4\u5dee)<\/li><li>derivative tracking error (\u5fae\u5206\u8ffd\u8e64\u8aa4\u5dee)<\/li><\/ol>\n\n\n\n<p>PID \u63a7\u5236\u5668\u4fbf\u662f\u8a2d\u8a08\u8207\u4e0a\u8ff0\u4e09\u500b\u7dda\u6027\u8a0a\u865f\u7d44\u5408\u7684\u76f8\u95dc\u7dda\u6027\u4fc2\u6578\uff0c\u4f86\u9054\u6210\u4ee4\u4eba\u6eff\u610f\u7684\u63a7\u5236\u8868\u73fe\u3002<\/p>\n\n\n\n<p>PID \u63a7\u5236\u5668\u662f\u53ef\u4ee5\u76f4\u89ba\u5730\u88ab\u8a2d\u8a08\u4e26\u5be6\u73fe\u51fa\u4f86\u7684\u4e00\u7a2e\u65b9\u6cd5\uff0c\u5b83\u4e5f\u80fd\u5920\u5728\u6574\u500b\u7cfb\u7d71\u57f7\u884c\u904e\u7a0b\u4e2d\uff0c\u908a\u57f7\u884c\u908a\u8abf\u6574\u63a7\u5236\u53cd\u61c9\uff0c\u4e26\u4e14\u5728\u5404\u7a2e\u4e0d\u540c\u7684\u5be6\u969b\u61c9\u7528\u4e0a\u90fd\u80fd\u6709\u4ee4\u4eba\u6eff\u610f\u7684\u8868\u73fe\u3002<\/p>\n\n\n\n<p>\u8981\u4f7f\u7528 PID \u63a7\u5236\u5668\uff0c\u4fbf\u9700\u8981\u4f7f\u7528\u5230\u8aa4\u5dee\u8a0a\u865f\uff0c\u9019\u662f\u7531\u63a7\u5236\u5668\u5be6\u969b\u8f38\u51fa\u7684\u6578\u503c\u8207\u53c3\u8003\u8a0a\u865f\u7684\u6578\u503c\uff0c\u4e92\u76f8\u6bd4\u8f03\u5f97\u4f86\u7684\u7d50\u679c\u3002<\/p>\n\n\n\n<p>\u8209\u500b\u4f8b\u5b50\uff0c\u5c0f\u9d28\u8eca\u60f3\u8981\u4ee5 V0\u7684\u901f\u5ea6\u7a69\u7a69\u5730\u8d70\u5728\u4e00\u689d\u7da0\u8272\u865b\u7dda\u4e0a\uff0c\u8eca\u982d\u671d\u5411\u6b63\u524d\u65b9\u7684\u89d2\u5ea6\u4ee5 0 \u5ea6\u8868\u793a\u3002\u5982\u679c\u73fe\u5728\u5c0f\u9d28\u8eca\u7684\u4f4d\u7f6e\u662f\u5728\u7da0\u8272\u865b\u7dda\u4e0b\u65b9\u5f80\u524d\u884c\u9032\uff0c\u9019\u8207\u6211\u5011\u60f3\u8981\u5c0f\u9d28\u8eca\u8d70\u5728\u7da0\u8272\u865b\u7dda\u4e0a\uff0c\u6709\u8457\u5f88\u660e\u986f\u7684\u8aa4\u5dee\u503ce0\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/PuVclthENGweOoGfiKbITQn0qtrqoTriNOFc0YLc3K5jxL3f_hLtTuxEBApvq3PnSi5TnxBH6bWH3uT0MXqoFHzcLI1JB_LGf-J4Oj7ZmT0S0LYDJICj0KCUHGsTHzyuK0QrMbal\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>PID \u63a7\u5236\u5668\u4e2d\u7684 P(Proportional) \u90e8\u5206\uff0c\u6307\u7684\u4fbf\u662f\u8207\u8aa4\u5dee\u6578\u503c\u5927\u5c0f\u5448\u73fe\u4e00\u500b\u7dda\u6027\u6bd4\u4f8b\u95dc\u4fc2(\u6b63\u6bd4)\u7684\u8a0a\u865f\uff0c\u4e26\u4e14\u9019\u500b\u8a0a\u865f\u6703\u5617\u8a66\u5c07\u5c0f\u9d28\u8eca\u5f80\u8aa4\u5dee\u6578\u503c\u7684\u76f8\u53cd\u65b9\u5411\u79fb\u52d5\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/zCaN8zX9WLmC_jA3KK8wXs2fPv1UyySfDjFS_evGp3NUGXqsWBEtN8gzWL0Q-a_9vdq247RwFY_USVFxzPiEA5jU3nKjctdZC-oOrB-2l-58zj1dxQFY5B41ZOAiSA8myD-MSuz0\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u82e5\u6211\u5011\u5617\u8a66\u5c07 P \u63a7\u5236\u5668\u7684\u4fc2\u6578\u589e\u52a0\u6642\uff0c\u5c0f\u9d28\u8eca\u4fbf\u53ef\u8d8a\u5feb\u56de\u5230\u7da0\u8272\u865b\u7dda\u4e0a\uff0c\u9019\u4e5f\u5c07\u5c0e\u81f4\u5728\u9019\u500b\u9589\u74b0\u88e1\uff0c\u5c0f\u9d28\u8eca\u7684\u53cd\u61c9\u901f\u5ea6\u5c07\u6703\u63d0\u9ad8\u3002\u4f46\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c P \u63a7\u5236\u5668\u7684\u4fc2\u6578\u589e\u52a0\uff0c\u5c0f\u9d28\u8eca\u80fd\u5920\u7a69\u5b9a\u5730\u8d70\u5728\u7da0\u8272\u865b\u7dda\u4e0a\u6240\u82b1\u8cbb\u7684\u6642\u9593\u4e5f\u6703\u76f8\u5c0d\u5730\u63d0\u9ad8\uff0c\u5c0f\u9d28\u8eca\u4e5f\u901a\u5e38\u6703\u5728\u7da0\u8272\u865b\u7dda\u4e0a\u51fa\u73fe\u9707\u76ea\u904b\u52d5\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/05\/duckiebot_PID_kp.jpg\" alt=\"\" class=\"wp-image-11062\" width=\"810\" height=\"766\"\/><\/figure><\/div>\n\n\n\n<p>PID \u63a7\u5236\u5668\u4e2d\u7684 D(Derivative) \u90e8\u5206\uff0c\u6307\u7684\u662f\u8aa4\u5dee\u8b8a\u5316\u7684\u983b\u7387\u4e26\u5448\u73fe\u7dda\u6027\u6bd4\u4f8b\u7684\u95dc\u4fc2\uff0c\u6216\u662f\u8aa4\u5dee\u7684\u5c0e\u6578\u3002D \u63a7\u5236\u5668\u8b93\u5c0f\u9d28\u8eca\u80fd\u5920\u9810\u6e2c\u9130\u8fd1\u672a\u4f86\u6703\u767c\u751f\u4ec0\u9ebc\u932f\u8aa4\uff0c\u8b93\u5c0f\u9d28\u8eca\u80fd\u5920\u907f\u514d\u904e\u5ea6\u53cd\u61c9\uff0c\u4e26\u589e\u52a0\u63a7\u5236\u5668\u7684\u6574\u9ad4\u7a69\u5b9a\u6027\u3002\u63db\u53e5\u8a71\u8aaa\uff0cD \u63a7\u5236\u5668\u7684\u4fc2\u6578\u5c07\u6703\u964d\u4f4e\u7cfb\u7d71\u7684\u53cd\u61c9\u6642\u9593\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/TTWRCKU-woUuVHHwZj8T_rWGugU7R1ZV-a2q-hl6w2Li6XjtBSisw_cK_Plr8avjOoP4ou1JETqL5sUU_Jx7AmIr4m2D4vqS9ZhKCV4PyuKW0URjbzkAdhxzSHyQCgHR1jD8yMPW\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u4f46 D \u63a7\u5236\u5668\u7684\u4fc2\u6578\u4e5f\u4e0d\u662f\u5168\u7136\u90fd\u6709\u826f\u597d\u7684\u5f71\u97ff\uff0c\u7531\u65bc D \u63a7\u5236\u5668\u7684\u4fc2\u6578\u6703\u6839\u64da\u8aa4\u5dee\u8b8a\u5316\u7684\u983b\u7387\u4f86\u5c0d\u6574\u500b\u7cfb\u7d71\u505a\u51fa\u9069\u7576\u7684\u53cd\u61c9\uff0c\u56e0\u6b64\u4e0d\u53ef\u907f\u514d\u7684\u4e5f\u6703\u5c07\u8aa4\u5dee\u4e2d\u7684\u96dc\u8a0a\u4e5f\u4e00\u4f75\u8003\u91cf\u5728\u5167\uff0c\u9019\u4f7f\u5f97 D\u63a7\u5236\u5668\u7684\u4fc2\u6578\u5c0d\u65bc\u8aa4\u5dee\u8b8a\u5316\u4e2d\u7684\u96dc\u8a0a\u6703\u8b8a\u5f97\u975e\u5e38\u654f\u611f\uff0c\u56e0\u6b64\u5728\u4f7f\u7528 D \u63a7\u5236\u5668\u7684\u4fc2\u6578\u6642\uff0c\u9700\u8981\u7279\u5225\u5c0f\u5fc3\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/05\/duckiebot_PID_kd.jpg\" alt=\"\" class=\"wp-image-11063\" width=\"837\" height=\"569\"\/><\/figure><\/div>\n\n\n\n<p>PID \u63a7\u5236\u5668\u4e2d\u7684 I(Integrative) \u90e8\u5206\uff0c\u6307\u7684\u662f\u96a8\u8457\u6642\u9593\u7684\u9032\u884c\uff0c\u6240\u7d2f\u7a4d\u51fa\u7684\u8aa4\u5dee\u503c\u3002\u9019\u5c07\u6703\u8b93&nbsp; I \u63a7\u5236\u5668\u80fd\u5920\u6839\u64da\u5148\u524d\u7d2f\u7a4d\u7684\u932f\u8aa4\u9032\u884c\u4fee\u6b63\uff0c\u4e26\u7531\u6b64\u5075\u6e2c\u51fa\u6f5b\u5728\u7684\u504f\u5dee\u503c\u3002I \u63a7\u5236\u5668\u5c07\u6703\u70ba\u4e86\u5617\u8a66\u964d\u4f4e\u5075\u6e2c\u5230\u7684\u504f\u5dee\uff0c\u4e26\u56de\u5230\u4f86\u7684\u7a69\u5b9a\u72c0\u614b\u800c\u6709\u6240\u52d5\u4f5c\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/DCJ5b0q-W--D8W25EuISHZ_iTSf9YTkVB-48i2OWyDCApPnwj-Pd2vWoxg4mm3LaQiyoZFO5g5h7_68DbuRbmVvE5RlEklkCHPA7ZCcM9kyK64gbqdWrORY4vmR179kW06R0klJ5\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u7576 I \u63a7\u5236\u5668\u7684\u4fc2\u6578\u589e\u52a0\u6642\uff0c\u5c07\u6703\u4f7f\u5f97\u63a7\u5236\u5668\u7684\u53cd\u61c9\u8b8a\u5f97\u66f4\u52a0\u9707\u76ea\uff0c\u4f46\u5c0d\u65bc\u8aa4\u5dee\u4e2d\u7684\u96dc\u8a0a\u4e26\u4e0d\u6703\u6709\u4efb\u4f55\u904e\u6fc0\u7684\u53cd\u61c9\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/05\/duckiebot_PID_ki.jpg\" alt=\"\" class=\"wp-image-11064\" width=\"826\" height=\"587\"\/><\/figure><\/div>\n\n\n\n<p>\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u5c07\u4f86\u8a66\u5982\u4f55\u4f7f\u7528\u7a0b\u5f0f\u78bc\uff0c\u5be6\u73fe PID \u63a7\u5236\u5668\u5594\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u64cd\u4f5c\u74b0\u5883\u9700\u6c42<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1. Duckietown \u7684\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a<\/h3>\n\n\n\n<p>\u5728\u958b\u59cb\u4e4b\u524d\u53ef\u5148\u53c3\u7167\u300c<a rel=\"noreferrer noopener\" aria-label=\"Duckietown \u2013 Duckiebot DB21M \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39 (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/\" target=\"_blank\">Duckietown \u2013 Duckiebot DB21M \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39<\/a>\u300d\u6587\u7ae0\u4e2d\u300c\u516d\u3001\u6e2c\u8a66\u5c0f\u9d28\u8eca\u300d\u7684\u6b65\u9a5f\u555f\u52d5\u5c0f\u9d28\u8eca\uff1b\u5728\u642d\u914d\u300c<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/\" target=\"_blank\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)<\/a>\u300d\u7684\u5167\u5bb9\uff0c\u9032\u884c\u64cd\u4f5c\u74b0\u5883\u7684\u8a2d\u5b9a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u7a0b\u5f0f\u78bc\u4f86\u6e90<\/h3>\n\n\n\n<p>\u6211\u5011\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528 <a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/github.com\/duckietown\/mooc-exercises\" target=\"_blank\">Duckietowm mooc-exercises<\/a> \u4e2d\u7684\u7a0b\u5f0f\u78bc\u4f86\u9032\u884c\u7df4\u7fd2\u3002\u8acb\u5728\u64cd\u4f5c\u4e3b\u6a5f\u4e0a\uff0c\u5229\u7528 git \u4e0b\u8f09\u7a0b\u5f0f\u78bc\uff0c\u6307\u4ee4\u5982\u4e0b\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/sov5wkt759USQDWGbKrc6peeEDrLogH_zACPLsTzhZ1BvBEqISPnNI40xF-7bnvVmJxB43LgfHX8U4Kw1clgiDa-gng2aXUyThdpELkyWm6jDTzLmFLl9N4eNPbcvE1q8aQSecOd\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u5efa\u7acb Jupyter lab \u4f7f\u7528\u7a7a\u9593<\/h3>\n\n\n\n<p>\u5728 duckietown-shell \u7684\u6307\u4ee4\u4e2d\uff0c\u6709\u8457\u5efa\u7acb Jupyter lab \u4f7f\u7528\u7a7a\u9593\u7684\u6307\u4ee4\u3002\u8acb\u5728 mooc-exercises\/modcon \u7684\u76ee\u9304\u4e2d\uff0c\u8f38\u5165\u6307\u4ee4\uff1a<\/p>\n\n\n\n<p><span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ dts exercises build<\/span><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/ZluBgWXSD0NRHF2Pqrqb_A4BMp3IYnRYVlXdK5lqSf2ltoqLIJsXIYdOe7mHGkf4FnDvIyht2KtdKFywBz12hEbgaOK0TE8ov3ujrOfmYx6n4y8vm-2K6uYFb5ntYIf_Ho2sb0ZY\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u4f7f\u7528\u7a0b\u5f0f\u78bc\u8a2d\u8a08 PID \u63a7\u5236\u5668<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u57f7\u884c mooc-exercise\/modcon \u5c08\u6848<\/h3>\n\n\n\n<p>\u8acb\u5728 mooc-exercises\/modcon \u7684\u76ee\u9304\u4e2d\uff0c\u8f38\u5165\u6307\u4ee4\uff1a<\/p>\n\n\n\n<p><span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ dts exercises lab<\/span><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/BmDLtux1Rg3ESaG5XvPM_cKoCv8yb7cy3ViXCmtkODlGV_pzFtcTqg6PKeX_DTSd6WkXmGsdvlx6zw9hijS-zvKquecVUFd2mCAuhAPf8mNBX46oeZY1T69kl3FD8E1uF8b40jiH\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u6307\u4ee4\u57f7\u884c\u6210\u529f\u5f8c\uff0cJupyter lab \u4fbf\u6703\u4f9d\u7167\u9810\u8a2d\u7684\u700f\u89bd\u5668\u8996\u7a97\u958b\u59cb\u57f7\u884c\u61c9\u7528\u7a0b\u5f0f\u3002\u5728 mooc-exercises \u5c08\u6848\u4e2d\uff0cJupyter Lab \u7684\u5bc6\u78bc\u7686\u70ba\u300cquackquack\u300d\u3002\u5bc6\u78bc\u8f38\u5165\u6b63\u78ba\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u958b\u555f Jupyter Lab \uff0c\u700f\u89bd\u8207\u57f7\u884c mooc-exercises\/modcon \u76ee\u9304\u4e2d\u7684\u7a0b\u5f0f\u78bc\u3002\u6211\u5011\u60f3\u8981\u7df4\u7fd2\u7684 PID \u7a0b\u5f0f\u78bc\u4fbf\u5728 05-PID: Heading control \u7a0b\u5f0f\u78bc\u7576\u4e2d\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/QIeLkzujDK4z00f9W4RBlZ2NkM8sGyq_qTGdlJN54s_P_RE_WGbwQWK-5b2lrkV7TI39ptMl9PlVxcYCB85U02Du2EaEDAvxdQ7cpJbSiriUx-HSUkAGFElSnaVnNYBIpbffgsjM\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u6839\u64da\u7a0b\u5f0f\u78bc\u7576\u4e2d\u7684\u5167\u5bb9\uff0c\u4e00\u6b65\u4e00\u6b65\u7684\u8abf\u6574\u7a0b\u5f0f\uff0c\u4fbf\u53ef\u4ee5\u7df4\u7fd2\u4f7f\u7528\u7a0b\u5f0f\u78bc\uff0c\u8a2d\u8a08\u51fa\u4e00\u500b PID \u63a7\u5236\u5668\u5594\uff01<\/p>\n\n\n\n<p>\u7576\u5b8c\u6210\u7bc4\u4f8b\u5167\u5bb9\uff0c\u4e26\u4f9d\u7167\u6307\u793a\u5411 Duckietown \u5718\u968a\u63d0\u4ea4\u7a0b\u5f0f\u78bc\u6210\u529f\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u5230\u300c<a rel=\"noreferrer noopener\" href=\"https:\/\/challenges.duckietown.org\/v4\/humans\/submissions\" target=\"_blank\">AI Driving Olympics<\/a>\u300d\u7db2\u7ad9\u67e5\u770b\u81ea\u5df1\u7684\u57f7\u884c\u7d50\u679c\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-group is-layout-flow wp-block-group-is-layout-flow\"><div class=\"wp-block-group__inner-container\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"963\" height=\"918\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/05\/\u672a\u547d\u540d.png\" alt=\"\" class=\"wp-image-11186\"\/><\/figure>\n\n\n\n<p>\u8207\u5927\u5bb6\u5206\u4eab\u672c\u6b21\u7df4\u7fd2\u901a\u904e\u6e2c\u9a57\u7684\u7d50\u679c\u5982\u4e0b\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"480\" height=\"436\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/05\/DIP-dd649-2.gif\" alt=\"\" class=\"wp-image-11202\"\/><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/05\/image-39.png\" alt=\"\" class=\"wp-image-11184\" width=\"871\" height=\"210\"\/><\/figure><\/div>\n<\/div><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u5ef6\u4f38\u95b1\u8b80<\/h2>\n\n\n\n<p>\u82e5\u662f\u5c0d\u63a7\u5236\u7cfb\u7d71\u60f3\u8981\u6709\u66f4\u6df1\u5165\u7684\u4e86\u89e3\uff0c\u53ef\u4ee5\u67e5\u95b1\u4e0b\u5217\u5169\u500b\u7db2\u7ad9\uff1a<\/p>\n\n\n\n<ul><li><a href=\"https:\/\/video.ethz.ch\/lectures\/d-mavt\/2018\/autumn\/151-0591-00L\/6a74fd84-5047-4639-b640-3ab2e6937e8a.html\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">Control Systems I<\/a>&nbsp; (external link to ETH Zurich video portal) &#8211; full course<\/li><li><a href=\"https:\/\/video.ethz.ch\/lectures\/d-mavt\/2018\/spring\/151-0590-00L\/4c5a2df0-8baa-4e6b-bcdb-0d82a5f93e72.html\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">Control Systems II<\/a> (external link to ETH Zurich video portal) &#8211; full course<\/li><\/ul>\n\n\n\n<p>\u672c\u6b21\u7684 PID \u63a7\u5236\u5668\u7c21\u4ecb\u5230\u9019\u908a\u7d50\u675f\u56c9\uff01\u4e0b\u4e00\u7bc7\u6587\u7ae0\u6211\u5011\u5c07\u6703\u6301\u7e8c\u4ecb\u7d39\u5c0f\u9d28\u8eca\u66f4\u591a\u7684\u64cd\u4f5c\u529f\u80fd\uff01\u8acb\u5404\u4f4d\u591a\u591a\u95dc\u6ce8\u8207\u5206\u4eab\u6211\u5011\u7684\u6587\u7ae0\u5594\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e0a\u4e00\u7bc7\u6587\u7ae0\u6211\u5011\u6210\u529f\u7684\u900f\u904e Differential drive configuration \u8b93 Duckiebot DB21M(\u5c0f\u9d28\u8eca)\uff0c\u80fd\u5920\u8d70\u5728\u4e00\u689d\u76f4\u7dda\u4e0a\u3002\u672c\u7bc7\u6587\u7ae0\u8981\u6559\u5927\u5bb6\u5982\u4f55\u4f7f\u7528PID \u63a7\u5236\u5668\uff0c\u8b93\u5c0f\u9d28\u8eca\u80fd\u5920\u6839\u64da\u5730\u5716\u767d\u7dda\u8207\u9ec3\u7dda\u7684\u76f8\u5c0d\u4f4d\u7f6e\uff0c\u81ea\u52d5\u99d5\u99db\u65bc\u5169\u689d\u7dda\u9053\u4e4b\u9593\u3002 <\/p>\n","protected":false},"author":1,"featured_media":11172,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[101,34,238],"tags":[184,179,178,118,119],"table_tags":[],"_links":{"self":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11201"}],"collection":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/comments?post=11201"}],"version-history":[{"count":5,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11201\/revisions"}],"predecessor-version":[{"id":12536,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11201\/revisions\/12536"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/11172"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=11201"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=11201"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=11201"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=11201"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}