Python 实现PID及测试
这里很多都是复制博客里面的,但是需要特别说明的是这里scipy使用的是1.2.3版本,其他的不能用。
import PID
import time
import matplotlib
matplotlib.use("TkAgg")
import matplotlib.pyplot as plt
import numpy as np
from scipy.interpolate import spline
#这个程序的实质就是在前九秒保持零输出,在后面的操作中在传递函数为某某的系统中输出1
def test_pid(P = 0.2, I = 0.0, D= 0.0, L=100):
"""Self-test PID class
.. note::
...
for i in range(1, END):
pid.update(feedback)
output = pid.output
if pid.SetPoint > 0:
feedback += (output - (1/i))
if i>9:
pid.SetPoint = 1
time.sleep(0.02)
---
"""
pid = PID.PID(P, I, D)
pid.SetPoint=0.0
pid.setSampleTime(0.01)
END = L
feedback = 0
feedback_list = []
time_list = []
setpoint_list = []
for i in range(1, END):
pid.update(feedback)
output = pid.output
if pid.SetPoint &g