编码器电机梯形加减速代码

编码器电机的梯形加减速控制通常用于伺服电机驱动系统中，它能够平滑地改变电机的速度，避免电流冲击，提高系统的稳定性和精度。这种控制策略通过设定一定的加速时间和减速时间，使得电机速度线性变化而不是一步到位。

下面是一个简单的Python示例，展示了如何使用PID控制器（Proportional-Integral-Derivative控制器）配合梯形函数来实现加减速：

import time
from scipy.integrate import cumtrapz

# 定义梯形函数
def trapezoidal_profile(current_speed, target_speed, acceleration_time, deceleration_time):
    t = np.linspace(0, acceleration_time + deceleration_time, acceleration_time * 2)
    speed_profile = np.concatenate((np.linspace(current_speed, target_speed, acceleration_time), 
                                    np.linspace(target_speed, current_speed, deceleration_time)))
    return t, speed_profile

# 模拟PID控制器
class EncoderMotorPID:
    def __init__(self, kp=1, ki=0, kd=0, integral_limit=100):
        self.kp = kp
        self.ki = ki
        self.kd = kd
        self.integral = 0
        self.limit = integral_limit

    def update(self, error):
        derivative = (error - self.prev_error) / dt if self.prev_error else 0
        self.integral += error
        self.integral = max(-self.limit, min(self.limit, self.integral))
        output = self.kp * error + self.ki * self.integral + self.kd * derivative
        # 添加梯形加减速控制
        target_speed = self.pid_output * motor_max_speed
        t, speed_profile = trapezoidal_profile(self.current_speed, target_speed, acceleration_time, deceleration_time)
        self.current_speed = speed_profile[int(time.time() * 1000)]
        self.prev_error = error
        return self.current_speed

# 示例用法
pid = EncoderMotorPID()
motor_max_speed = 1000  # 电机最大速度
acceleration_time = 0.5  # 加速时间
deceleration_time = 0.5  # 减速时间
current_speed = 0
while True:
    error = desired_position - current_encoder_position
    new_speed = pid.update(error)
    set_motor_speed(new_speed)