python 实现位置型PID控制算法

class _pid:
    def __init__(self,setSpeed,actualSpeed,err,err_last,Kp,Ki,Kd,voltage,intergral):
        self.setSpeed = setSpeed;
        self.actualSpeed = actualSpeed;
        self.err = err;
        self.err_last = err_last;
        self.Kp = Kp;
        self.Ki = Ki;
        self.Kd = Kd;
        self.voltage = voltage;
        self.intergral = intergral;



def PID_init():
    pass;

def PID_realize(speed):
    pID.setSpeed = speed;
    pID.err = pID.setSpeed-pID.actualSpeed;
    pID.intergral += pID.err;
    pID.voltage = pID.Kp * pID.err  + pID.Ki * pID.intergral + pID.Kd * (pID.err-pID.err_last);
    pID.err_last = pID.err;
    pID.actualSpeed = pID.voltage * 1.0;
    return pID.actualSpeed;


if __name__ == '__main__':
    pID = _pid(0.0, 0.0, 0.0, 0.0, 0.2, 0.015, 0.2, 0.0, 0.0);


    count = 0;
    while(count<450):
        speed = PID_realize(200.0);
        count = count+1;
        print(speed)

最基本的算法实现形式，没有考虑死区问题，没有设定上下限，只是对公式的一种直接的实现。