{"id":103634,"date":"2026-09-11T05:32:58","date_gmt":"2026-09-10T21:32:58","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/103634.html"},"modified":"2026-09-11T05:32:58","modified_gmt":"2026-09-10T21:32:58","slug":"diy%e5%b9%b3%e8%a1%a1%e5%b0%8f%e8%bd%a6%e7%ac%ac%e4%b8%80%e6%ad%a5%ef%bc%9a%e7%94%a851%e5%8d%95%e7%89%87%e6%9c%bampu6050lcd1602%e6%90%ad%e5%bb%ba%e5%a7%bf%e6%80%81%e7%9b%91%e6%b5%8b%e7%b3%bb","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/103634.html","title":{"rendered":"DIY\u5e73\u8861\u5c0f\u8f66\u7b2c\u4e00\u6b65\uff1a\u752851\u5355\u7247\u673a+MPU6050+LCD1602\u642d\u5efa\u59ff\u6001\u76d1\u6d4b\u7cfb\u7edf"},"content":{"rendered":"

DIY\u5e73\u8861\u5c0f\u8f66\u7b2c\u4e00\u6b65：\u752851\u5355\u7247\u673a+MPU6050+LCD1602\u642d\u5efa\u59ff\u6001\u76d1\u6d4b\u7cfb\u7edf<\/h2>\n

\u5f53\u4f60\u60f3\u5236\u4f5c\u4e00\u4e2a\u80fd\u81ea\u4e3b\u4fdd\u6301\u5e73\u8861\u7684\u5c0f\u8f66\u65f6，\u7b2c\u4e00\u6b65\u5c31\u662f\u8981\u8ba9\u7cfb\u7edf\u80fd\u591f\u611f\u77e5\u81ea\u8eab\u7684\u503e\u659c\u72b6\u6001\u3002\u8fd9\u5c31\u50cf\u4eba\u7c7b\u95ed\u773c\u7ad9\u7acb\u65f6，\u9700\u8981\u901a\u8fc7\u5185\u8033\u6765\u611f\u77e5\u8eab\u4f53\u662f\u5426\u503e\u659c\u4e00\u6837\u3002\u672c\u6587\u5c06\u5e26\u4f60\u7528\u6700\u57fa\u7840\u768451\u5355\u7247\u673a\u3001MPU6050\u4f20\u611f\u5668\u548cLCD1602\u663e\u793a\u5c4f，\u6784\u5efa\u4e00\u4e2a\u5b8c\u6574\u7684\u59ff\u6001\u76d1\u6d4b\u7cfb\u7edf\u3002<\/p>\n

1. \u786c\u4ef6\u9009\u578b\u4e0e\u8fde\u63a5<\/h3>\n

1.1 \u6838\u5fc3\u5143\u4ef6\u4ecb\u7ecd<\/h4>\n

MPU6050\u662f\u8fd9\u4e2a\u7cfb\u7edf\u7684\u5fc3\u810f，\u5b83\u96c6\u6210\u4e86\u4e09\u8f74\u52a0\u901f\u5ea6\u8ba1\u548c\u4e09\u8f74\u9640\u87ba\u4eea，\u80fd\u540c\u65f6\u6d4b\u91cf\u7ebf\u6027\u52a0\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\u3002\u8fd9\u6b3e\u4f20\u611f\u5668\u901a\u8fc7I2C\u63a5\u53e3\u901a\u4fe1，\u529f\u8017\u4f4e\u4e14\u6027\u4ef7\u6bd4\u6781\u9ad8，\u7279\u522b\u9002\u5408\u5165\u95e8\u7ea7\u7684\u5e73\u8861\u9879\u76ee\u3002<\/p>\n

LCD1602\u663e\u793a\u5c4f\u5219\u662f\u7cfb\u7edf\u7684"\u5634\u5df4"，\u5b83\u80fd\u4ee516×2\u7684\u5b57\u7b26\u683c\u5f0f\u6e05\u6670\u5730\u8f93\u51fa\u5b9e\u65f6\u6570\u636e\u3002\u76f8\u6bd4\u590d\u6742\u7684\u56fe\u5f62\u663e\u793a\u5c4f，\u8fd9\u79cd\u5b57\u7b26\u578bLCD\u63a5\u7ebf\u7b80\u5355，\u7f16\u7a0b\u65b9\u4fbf，\u5728\u8c03\u8bd5\u9636\u6bb5\u975e\u5e38\u5b9e\u7528\u3002<\/p>\n

STC89C52\u4f5c\u4e3a51\u5355\u7247\u673a\u5bb6\u65cf\u7684\u4ee3\u8868，\u867d\u7136\u6027\u80fd\u4e0d\u5982\u73b0\u4ee3ARM\u82af\u7247，\u4f46\u5176\u7b80\u5355\u7684\u67b6\u6784\u548c\u4e30\u5bcc\u7684\u5b66\u4e60\u8d44\u6e90，\u4f7f\u5176\u6210\u4e3a\u5165\u95e8\u5d4c\u5165\u5f0f\u5f00\u53d1\u7684\u7edd\u4f73\u9009\u62e9\u3002<\/p>\n

1.2 \u786c\u4ef6\u8fde\u63a5\u6307\u5357<\/h4>\n

\u6b63\u786e\u7684\u786c\u4ef6\u8fde\u63a5\u662f\u9879\u76ee\u6210\u529f\u7684\u57fa\u7840\u3002\u4ee5\u4e0b\u662f\u5173\u952e\u63a5\u7ebf\u8981\u70b9：<\/p>\n\nMPU6050\u5f15\u811a51\u5355\u7247\u673a\u5f15\u811a\u5907\u6ce8<\/tr>\n\n\n\n\n\n\n
VCC<\/td>\n5V<\/td>\n\u7535\u6e90\u6b63\u6781<\/td>\n<\/tr>\n
GND<\/td>\nGND<\/td>\n\u7535\u6e90\u5730<\/td>\n<\/tr>\n
SDA<\/td>\nP2.1<\/td>\nI2C\u6570\u636e\u7ebf<\/td>\n<\/tr>\n
SCL<\/td>\nP2.0<\/td>\nI2C\u65f6\u949f\u7ebf<\/td>\n<\/tr>\n
INT<\/td>\n\u60ac\u7a7a<\/td>\n\u4e2d\u65ad\u5f15\u811a(\u672c\u4f8b\u672a\u7528)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

LCD1602\u7684\u63a5\u7ebf\u76f8\u5bf9\u7075\u6d3b，\u5982\u679c\u4f7f\u75284\u4f4d\u6570\u636e\u6a21\u5f0f，\u5178\u578b\u8fde\u63a5\u5982\u4e0b：<\/p>\n

sbit LCD_RS = P3^5; \/\/ \u5bc4\u5b58\u5668\u9009\u62e9
\nsbit LCD_RW = P3^6; \/\/ \u8bfb\u5199\u63a7\u5236
\nsbit LCD_EN = P3^4; \/\/ \u4f7f\u80fd\u4fe1\u53f7
\n#define LCD_Data P0 \/\/ \u6570\u636e\u7aef\u53e3<\/p>\n

\u63d0\u793a：\u5b9e\u9645\u8fde\u63a5\u65f6，\u5efa\u8bae\u4e3aI2C\u603b\u7ebf\u52a0\u4e0a4.7k\u03a9\u7684\u4e0a\u62c9\u7535\u963b，\u786e\u4fdd\u4fe1\u53f7\u7a33\u5b9a\u6027\u3002\u5982\u679cLCD\u663e\u793a\u5bf9\u6bd4\u5ea6\u4e0d\u4f73，\u53ef\u8c03\u6574VO\u5f15\u811a\u8fde\u63a5\u7684\u7535\u4f4d\u5668\u3002<\/p>\n

2. MPU6050\u4f20\u611f\u5668\u914d\u7f6e<\/h3>\n

2.1 \u4f20\u611f\u5668\u521d\u59cb\u5316<\/h4>\n

MPU6050\u4e0a\u7535\u540e\u5904\u4e8e\u7761\u7720\u6a21\u5f0f，\u9700\u8981\u6b63\u786e\u521d\u59cb\u5316\u624d\u80fd\u5de5\u4f5c\u3002\u4ee5\u4e0b\u662f\u5173\u952e\u914d\u7f6e\u6b65\u9aa4：<\/p>\n

  • \u89e3\u9664\u7761\u7720\u72b6\u6001：\u5411PWR_MGMT_1\u5bc4\u5b58\u5668(0x6B)\u5199\u51650x00<\/li>\n
  • \u8bbe\u7f6e\u91c7\u6837\u7387：\u914d\u7f6eSMPLRT_DIV\u5bc4\u5b58\u5668(0x19)，\u5178\u578b\u503c0x07\u5bf9\u5e94100Hz<\/li>\n
  • \u914d\u7f6e\u4f4e\u901a\u6ee4\u6ce2\u5668：\u8bbe\u7f6eCONFIG\u5bc4\u5b58\u5668(0x1A)\u4e3a0x06，\u5e26\u5bbd\u7ea65Hz<\/li>\n
  • \u8bbe\u7f6e\u91cf\u7a0b：\n
      \n
    • \u52a0\u901f\u5ea6\u8ba1：ACCEL_CONFIG\u5bc4\u5b58\u5668(0x1C)，0x00\u5bf9\u5e94\u00b12g<\/li>\n
    • \u9640\u87ba\u4eea：GYRO_CONFIG\u5bc4\u5b58\u5668(0x1B)，0x18\u5bf9\u5e94\u00b12000\u00b0\/s<\/li>\n<\/ul>\n<\/li>\n

      \u5bf9\u5e94\u7684\u521d\u59cb\u5316\u4ee3\u7801\u5982\u4e0b：<\/p>\n

      void MPU6050_Init() {
      \n I2C_WriteByte(MPU6050_ADDR, PWR_MGMT_1, 0x00); \/\/ \u5524\u9192\u8bbe\u5907
      \n I2C_WriteByte(MPU6050_ADDR, SMPLRT_DIV, 0x07); \/\/ \u91c7\u6837\u7387100Hz
      \n I2C_WriteByte(MPU6050_ADDR, CONFIG, 0x06); \/\/ \u4f4e\u901a\u6ee4\u6ce25Hz
      \n I2C_WriteByte(MPU6050_ADDR, GYRO_CONFIG, 0x18); \/\/ \u9640\u87ba\u4eea\u00b12000\u00b0\/s
      \n I2C_WriteByte(MPU6050_ADDR, ACCEL_CONFIG, 0x00); \/\/ \u52a0\u901f\u5ea6\u8ba1\u00b12g
      \n}<\/p>\n

      2.2 \u6570\u636e\u8bfb\u53d6\u4e0e\u5904\u7406<\/h4>\n

      MPU6050\u7684\u539f\u59cb\u6570\u636e\u662f16\u4f4d\u6709\u7b26\u53f7\u6574\u6570，\u9700\u8981\u8f6c\u6362\u4e3a\u7269\u7406\u91cf\u3002\u4ee5\u52a0\u901f\u5ea6\u8ba1\u4e3a\u4f8b，\u5f53\u91cf\u7a0b\u8bbe\u4e3a\u00b12g\u65f6，\u7075\u654f\u5ea6\u4e3a16384 LSB\/g\u3002\u8f6c\u6362\u516c\u5f0f\u4e3a：<\/p>\n

      \u52a0\u901f\u5ea6(g) = \u539f\u59cb\u503c \/ 16384<\/p>\n

      \u8bfb\u53d6\u4e09\u8f74\u52a0\u901f\u5ea6\u6570\u636e\u7684\u51fd\u6570\u5b9e\u73b0：<\/p>\n

      void Read_Accel(float *accel) {
      \n uint8_t buf[6];
      \n I2C_ReadBytes(MPU6050_ADDR, ACCEL_XOUT_H, buf, 6);<\/p>\n

      accel[0] = (int16_t)(buf[0]<<8 | buf[1]) \/ 16384.0; \/\/ X\u8f74
      \n accel[1] = (int16_t)(buf[2]<<8 | buf[3]) \/ 16384.0; \/\/ Y\u8f74
      \n accel[2] = (int16_t)(buf[4]<<8 | buf[5]) \/ 16384.0; \/\/ Z\u8f74
      \n}<\/p>\n

      \u6ce8\u610f：\u4f20\u611f\u5668\u653e\u7f6e\u65b9\u5411\u4f1a\u5f71\u54cd\u6570\u636e\u89e3\u8bfb\u3002\u901a\u5e38\u5c06Z\u8f74\u5782\u76f4\u5411\u4e0a，X\u8f74\u6307\u5411\u5c0f\u8f66\u524d\u8fdb\u65b9\u5411，\u8fd9\u6837Y\u8f74\u89d2\u5ea6\u53d8\u5316\u5c31\u5bf9\u5e94\u5c0f\u8f66\u7684\u503e\u659c\u3002<\/p>\n

      3. \u59ff\u6001\u89d2\u8ba1\u7b97\u7b97\u6cd5<\/h3>\n

      3.1 \u4e92\u8865\u6ee4\u6ce2\u5b9e\u73b0<\/h4>\n

      \u5355\u7eaf\u4f7f\u7528\u52a0\u901f\u5ea6\u8ba1\u8ba1\u7b97\u503e\u89d2\u4f1a\u53d7\u5230\u7ebf\u6027\u52a0\u901f\u5ea6\u5e72\u6270，\u800c\u9640\u87ba\u4eea\u7684\u79ef\u5206\u53c8\u4f1a\u968f\u65f6\u95f4\u6f02\u79fb\u3002\u4e92\u8865\u6ee4\u6ce2\u7ed3\u5408\u4e86\u4e24\u8005\u7684\u4f18\u70b9：<\/p>\n

      \u89d2\u5ea6 = 0.98*(\u4e0a\u4e00\u89d2\u5ea6 + \u9640\u87ba\u4eea\u6570\u636e*dt) + 0.02*\u52a0\u901f\u5ea6\u8ba1\u89d2\u5ea6<\/p>\n

      \u4ee5\u4e0b\u662f51\u5355\u7247\u673a\u4e0a\u7684\u7b80\u5316\u5b9e\u73b0：<\/p>\n

      float pitch = 0; \/\/ \u4fef\u4ef0\u89d2
      \nfloat dt = 0.01; \/\/ \u91c7\u6837\u5468\u671f100Hz<\/p>\n

      void Update_Angle() {
      \n float accel[3], gyro[3];<\/p>\n

      Read_Accel(accel);
      \n Read_Gyro(gyro);<\/p>\n

      \/\/ \u52a0\u901f\u5ea6\u8ba1\u8ba1\u7b97\u7684\u89d2\u5ea6(\u5f27\u5ea6)
      \n float acc_angle = atan2(accel[1], accel[2]); <\/p>\n

      \/\/ \u4e92\u8865\u6ee4\u6ce2
      \n pitch = 0.98*(pitch + gyro[0]*dt) + 0.02*acc_angle;
      \n}<\/p>\n

      3.2 \u5361\u5c14\u66fc\u6ee4\u6ce2\u8fdb\u9636<\/h4>\n

      \u5bf9\u4e8e\u8ffd\u6c42\u66f4\u9ad8\u7cbe\u5ea6\u7684\u5f00\u53d1\u8005，\u53ef\u4ee5\u5c1d\u8bd5\u5361\u5c14\u66fc\u6ee4\u6ce2\u3002\u867d\u713651\u5355\u7247\u673a\u7684\u8ba1\u7b97\u80fd\u529b\u6709\u9650，\u4f46\u7b80\u5316\u7248\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2\u4ecd\u7136\u53ef\u884c：<\/p>\n

      typedef struct {
      \n float angle; \/\/ \u5f53\u524d\u89d2\u5ea6\u4f30\u8ba1
      \n float bias; \/\/ \u9640\u87ba\u4eea\u96f6\u504f
      \n float P[2][2]; \/\/ \u8bef\u5dee\u534f\u65b9\u5dee\u77e9\u9635
      \n} Kalman_t;<\/p>\n

      void Kalman_Update(Kalman_t *k, float newAngle, float newRate, float dt) {
      \n \/\/ \u9884\u6d4b\u6b65\u9aa4
      \n k->angle += dt * (newRate – k->bias);
      \n k->P[0][0] += dt * (dt*k->P[1][1] – k->P[0][1] – k->P[1][0] + Q_angle);
      \n k->P[0][1] -= dt * k->P[1][1];
      \n k->P[1][0] -= dt * k->P[1][1];
      \n k->P[1][1] += Q_bias * dt;<\/p>\n

      \/\/ \u66f4\u65b0\u6b65\u9aa4
      \n float y = newAngle – k->angle;
      \n float S = k->P[0][0] + R_measure;
      \n float K[2] = {k->P[0][0]\/S, k->P[1][0]\/S};<\/p>\n

      k->angle += K[0] * y;
      \n k->bias += K[1] * y;<\/p>\n

      \/\/ \u66f4\u65b0\u534f\u65b9\u5dee
      \n float P00_temp = k->P[0][0];
      \n float P01_temp = k->P[0][1];<\/p>\n

      k->P[0][0] -= K[0] * P00_temp;
      \n k->P[0][1] -= K[0] * P01_temp;
      \n k->P[1][0] -= K[1] * P00_temp;
      \n k->P[1][1] -= K[1] * P01_temp;
      \n}<\/p>\n

      4. LCD1602\u5b9e\u65f6\u663e\u793a\u4f18\u5316<\/h3>\n

      4.1 \u6570\u636e\u663e\u793a\u5e03\u5c40\u8bbe\u8ba1<\/h4>\n

      \u6709\u9650\u768416×2\u663e\u793a\u5c4f\u9700\u8981\u5408\u7406\u5e03\u5c40\u624d\u80fd\u6e05\u6670\u5c55\u793a\u5173\u952e\u4fe1\u606f\u3002\u63a8\u8350\u4ee5\u4e0b\u5e03\u5c40\u65b9\u6848：<\/p>\n

      X: +1.23 Y: -0.45
      \nP: 12.5\u00b0 G: 45.0\u00b0\/s<\/p>\n

      \u5b9e\u73b0\u8fd9\u79cd\u663e\u793a\u9700\u8981\u89e3\u51b3\u4e09\u4e2a\u95ee\u9898：<\/p>\n

    • \u6d6e\u70b9\u6570\u8f6c\u5b57\u7b26\u4e32<\/li>\n
    • \u6570\u503c\u5bf9\u9f50<\/li>\n
    • \u5237\u65b0\u7387\u4f18\u5316<\/li>\n

      4.2 \u9ad8\u6548\u663e\u793a\u5b9e\u73b0<\/h4>\n

      \u4ee5\u4e0b\u4ee3\u7801\u5c55\u793a\u4e86\u5982\u4f55\u572851\u5355\u7247\u673a\u4e0a\u9ad8\u6548\u5b9e\u73b0\u6d6e\u70b9\u663e\u793a：<\/p>\n

      void Display_Float(uint8_t x, uint8_t y, float num) {
      \n char buf[8];
      \n int integer = (int)num;
      \n int decimal = (int)((num – integer)*100 + (num>0?0.5:-0.5));<\/p>\n

      sprintf(buf, "%3d.%02d", integer, abs(decimal));
      \n LCD_SetCursor(x, y);
      \n LCD_WriteString(buf);
      \n}<\/p>\n

      \u4e3a\u63d0\u9ad8\u5237\u65b0\u7387，\u53ef\u4ee5\u91c7\u7528\u5206\u533a\u5237\u65b0\u7b56\u7565：<\/p>\n

      void Update_Display() {
      \n static uint8_t counter = 0;<\/p>\n

      switch(counter++ % 4) {
      \n case 0: Display_Float(3, 0, accel[0]); break;
      \n case 1: Display_Float(11, 0, accel[1]); break;
      \n case 2: Display_Float(3, 1, pitch); break;
      \n case 3: Display_Float(11, 1, gyro[0]); break;
      \n }
      \n}<\/p>\n

      \u63d0\u793a：LCD1602\u7684\u5199\u64cd\u4f5c\u8f83\u6162，\u9891\u7e41\u5168\u5c4f\u5237\u65b0\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u54cd\u5e94\u53d8\u6162\u3002\u91c7\u7528\u8f6e\u6362\u5237\u65b0\u4e0d\u540c\u533a\u57df\u7684\u65b9\u6cd5，\u53ef\u4ee5\u5728\u4fdd\u8bc1\u6570\u636e\u5b9e\u65f6\u6027\u7684\u540c\u65f6\u51cf\u5c11CPU\u8d1f\u62c5\u3002<\/p>\n

      5. \u7cfb\u7edf\u8c03\u8bd5\u4e0e\u4f18\u5316<\/h3>\n

      5.1 \u5e38\u89c1\u95ee\u9898\u6392\u67e5<\/h4>\n

      \u5728\u5b9e\u9645\u7ec4\u88c5\u8fc7\u7a0b\u4e2d，\u4f60\u53ef\u80fd\u4f1a\u9047\u5230\u4ee5\u4e0b\u5178\u578b\u95ee\u9898\u53ca\u89e3\u51b3\u65b9\u6848：<\/p>\n

        \n
      • \n

        \u6570\u636e\u8df3\u52a8\u4e25\u91cd：<\/p>\n

          \n
        • \u68c0\u67e5\u7535\u6e90\u7a33\u5b9a\u6027，\u786e\u4fdd\u4f9b\u7535\u7535\u538b\u57284.5-5.5V\u4e4b\u95f4<\/li>\n
        • \u4e3aMPU6050\u7684VCC\u5f15\u811a\u6dfb\u52a00.1\u03bcF\u53bb\u8026\u7535\u5bb9<\/li>\n
        • \u964d\u4f4eI2C\u901a\u4fe1\u901f\u7387(51\u5355\u7247\u673a\u5efa\u8bae\u4e0d\u8d85\u8fc7100kHz)<\/li>\n<\/ul>\n<\/li>\n
        • \n

          LCD\u663e\u793a\u4e71\u7801：<\/p>\n

            \n
          • \u786e\u8ba4\u521d\u59cb\u5316\u5e8f\u5217\u6b63\u786e，\u7279\u522b\u662f4\u4f4d\/8\u4f4d\u6a21\u5f0f\u8bbe\u7f6e<\/li>\n
          • \u68c0\u67e5\u4f7f\u80fd\u4fe1\u53f7EN\u7684\u8109\u51b2\u5bbd\u5ea6(\u9700>450ns)<\/li>\n
          • \u8c03\u6574\u5bf9\u6bd4\u5ea6\u7535\u4f4d\u5668\u81f3\u6700\u4f73\u4f4d\u7f6e<\/li>\n<\/ul>\n<\/li>\n
          • \n

            \u89d2\u5ea6\u8ba1\u7b97\u4e0d\u51c6\u786e：<\/p>\n

              \n
            • \u8fdb\u884c\u4f20\u611f\u5668\u6821\u51c6，\u6d4b\u91cf\u5e76\u8865\u507f\u96f6\u504f<\/li>\n
            • \u786e\u4fdd\u91c7\u6837\u95f4\u9694(dt)\u8ba1\u7b97\u51c6\u786e<\/li>\n
            • \u5c1d\u8bd5\u8c03\u6574\u6ee4\u6ce2\u7b97\u6cd5\u53c2\u6570<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n

              5.2 \u4f20\u611f\u5668\u6821\u51c6\u6280\u5de7<\/h4>\n

              \u672a\u7ecf\u6821\u51c6\u7684MPU6050\u4f1a\u4ea7\u751f\u660e\u663e\u7684\u96f6\u504f\u8bef\u5dee\u3002\u7b80\u5355\u7684\u9759\u6001\u6821\u51c6\u65b9\u6cd5：<\/p>\n

            • \u5c06\u4f20\u611f\u5668\u6c34\u5e73\u653e\u7f6e\u5728\u7a33\u5b9a\u8868\u9762<\/li>\n
            • \u8fde\u7eed\u91c7\u6837100\u6b21\u52a0\u901f\u5ea6\u548c\u9640\u87ba\u4eea\u6570\u636e<\/li>\n
            • \u8ba1\u7b97\u5404\u8f74\u5e73\u5747\u503c\u4f5c\u4e3a\u96f6\u504f<\/li>\n
            • \u5c06\u96f6\u504f\u503c\u5b58\u50a8\u5728EEPROM\u4e2d<\/li>\n

              \u6821\u51c6\u4ee3\u7801\u793a\u4f8b：<\/p>\n

              void Calibrate_MPU6050() {
              \n float accel_sum[3] = {0}, gyro_sum[3] = {0};<\/p>\n

              for(int i=0; i<100; i++) {
              \n float accel[3], gyro[3];
              \n Read_Accel(accel);
              \n Read_Gyro(gyro);<\/p>\n

              for(int j=0; j<3; j++) {
              \n accel_sum[j] += accel[j];
              \n gyro_sum[j] += gyro[j];
              \n }
              \n delay(10);
              \n }<\/p>\n

              for(int j=0; j<3; j++) {
              \n accel_offset[j] = accel_sum[j] \/ 100;
              \n gyro_offset[j] = gyro_sum[j] \/ 100;
              \n }
              \n}<\/p>\n

              6. \u4ece\u76d1\u6d4b\u5230\u63a7\u5236\u7684\u7406\u8bba\u51c6\u5907<\/h3>\n

              \u5f53\u7cfb\u7edf\u80fd\u591f\u51c6\u786e\u76d1\u6d4b\u59ff\u6001\u540e，\u5c31\u53ef\u4ee5\u5f00\u59cb\u8bbe\u8ba1\u63a7\u5236\u7b97\u6cd5\u4e86\u3002PID\u63a7\u5236\u5668\u662f\u5e73\u8861\u5c0f\u8f66\u7684\u7ecf\u5178\u9009\u62e9，\u5176\u57fa\u672c\u5f62\u5f0f\u4e3a：<\/p>\n

              \u8f93\u51fa = Kp\u00d7\u8bef\u5dee + Ki\u00d7\u79ef\u5206(\u8bef\u5dee) + Kd\u00d7\u8bef\u5dee\u53d8\u5316\u7387<\/p>\n

              \u572851\u5355\u7247\u673a\u4e0a\u7684\u7b80\u5316\u5b9e\u73b0：<\/p>\n

              typedef struct {
              \n float Kp, Ki, Kd;
              \n float integral;
              \n float prev_error;
              \n} PID_Controller;<\/p>\n

              float PID_Update(PID_Controller *pid, float error, float dt) {
              \n pid->integral += error * dt;
              \n float derivative = (error – pid->prev_error) \/ dt;
              \n pid->prev_error = error;<\/p>\n

              return pid->Kp*error + pid->Ki*pid->integral + pid->Kd*derivative;
              \n}<\/p>\n

              \u8c03\u8bd5PID\u53c2\u6570\u65f6，\u5efa\u8bae\u9075\u5faa\u4ee5\u4e0b\u987a\u5e8f：<\/p>\n

            • \u5148\u8bbeKi\u548cKd\u4e3a0，\u9010\u6e10\u589e\u5927Kp\u76f4\u5230\u7cfb\u7edf\u5f00\u59cb\u632f\u8361<\/li>\n
            • \u7136\u540e\u52a0\u5165Kd\u6291\u5236\u632f\u8361<\/li>\n
            • \u6700\u540e\u52a0\u5165Ki\u6d88\u9664\u7a33\u6001\u8bef\u5dee<\/li>\n","protected":false},"excerpt":{"rendered":"

              DIY\u5e73\u8861\u5c0f\u8f66\u7b2c\u4e00\u6b65：\u752851\u5355\u7247\u673aMPU6050LCD1602\u642d\u5efa\u59ff\u6001\u76d1\u6d4b\u7cfb\u7edf
              \n\u5f53\u4f60\u60f3\u5236\u4f5c\u4e00\u4e2a\u80fd\u81ea\u4e3b\u4fdd\u6301\u5e73\u8861\u7684\u5c0f\u8f66\u65f6，\u7b2c\u4e00\u6b65\u5c31\u662f\u8981\u8ba9\u7cfb\u7edf\u80fd\u591f\u611f\u77e5\u81ea\u8eab\u7684\u503e\u659c\u72b6\u6001\u3002\u8fd9\u5c31\u50cf\u4eba\u7c7b\u95ed\u773c\u7ad9\u7acb\u65f6，\u9700\u8981\u901a\u8fc7\u5185\u8033\u6765\u611f\u77e5\u8eab\u4f53\u662f\u5426\u503e\u659c\u4e00\u6837\u3002\u672c\u6587\u5c06\u5e26\u4f60\u7528\u6700\u57fa\u7840\u768451\u5355\u7247\u673a\u3001MPU6050\u4f20\u611f\u5668\u548cLCD1602\u663e\u793a\u5c4f，\u6784\u5efa\u4e00\u4e2a\u5b8c\u6574\u7684\u59ff\u6001\u76d1\u6d4b\u7cfb\u7edf\u3002
              \n1. \u786c\u4ef6\u9009\u578b\u4e0e\u8fde\u63a5
              \n1.1 \u6838\u5fc3\u5143\u4ef6\u4ecb\u7ecd
              \nMPU6050\u662f\u8fd9\u4e2a\u7cfb\u7edf\u7684\u5fc3\u810f，\u5b83\u96c6\u6210\u4e86\u4e09<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[7675,11808,11809,2489],"topic":[],"class_list":["post-103634","post","type-post","status-publish","format-standard","hentry","category-server","tag-i2c","tag-mpu6050","tag-11809","tag-2489"],"yoast_head":"\nDIY\u5e73\u8861\u5c0f\u8f66\u7b2c\u4e00\u6b65\uff1a\u752851\u5355\u7247\u673a+MPU6050+LCD1602\u642d\u5efa\u59ff\u6001\u76d1\u6d4b\u7cfb\u7edf - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/103634.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"DIY\u5e73\u8861\u5c0f\u8f66\u7b2c\u4e00\u6b65\uff1a\u752851\u5355\u7247\u673a+MPU6050+LCD1602\u642d\u5efa\u59ff\u6001\u76d1\u6d4b\u7cfb\u7edf - 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