转：pid自整定库

以下内容摘自网页：http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/

Problem #1: When to step?

By analyzing how far apart the peaks are, and how big they are in relation to the output changes, the Autotuner can tell the difference between one type of process and another. As a result, different systems will get custom tuning parameters:

The way I chose to side-step this issue was to have the user specify a noise band. In effect, this creates two trigger lines. Since the distance between them is equal to the noise (if properly set) it’s less likely that multiple crossings will occur due to signal chatter.

Problem #2: Peak Identification

Every noise blip is a direction change. To deal with this issue I added a “look-back time” parameter. It’s an awful name. If you can think of something better let me know.

At any rate, the user defines some window, say 10 seconds. The Library then compares the current point to the last ten seconds of data. If it is a min or a max, it gets flagged as a possible peak.