PID
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PID(一、基本概念)
1、模拟PID: 其中:u(t)——调节器的输出信号;e(t)——调节器的偏差信号,它等于给定值与测量值之差KP——比例系数TI ——积分时间TD ——微分时间u0 ——控制常量KP/TI ——积分系数KP/TD ——微分系数2、数字PID:k:采样信号,k=0,1,2,…uk:第k 次采样时刻的计算机输出值ek:第k 次采样时刻输入...原创 2019-01-24 15:22:54 · 8649 阅读 · 0 评论 -
PID(二、位置型PID)
#include <stdio.h>typedef struct { float SetLocation; /*you want to set location*/ float LastLocation; /*the last location*/ float err_now_0; float err_last_1; float ...原创 2019-01-24 16:09:51 · 314 阅读 · 0 评论 -
PID(三、增量型PID)
#include <stdio.h>typedef struct{ float SetLocation; float LastLocation; float err_now_0; float err_next_1; float err_last_2; float Kp; float Ki; float Kd; ...原创 2019-01-24 16:32:50 · 859 阅读 · 0 评论 -
PID(四、积分分离PID)
#include <stdio.h>#include <math.h>typedef struct { float SetLocation; /*you want to set location*/ float LastLocation; /* the last location*/ float err_now_0; ...原创 2019-01-24 22:24:30 · 3481 阅读 · 0 评论 -
PID(五、抗饱和积分PID)
#include <stdio.h>#include <math.h>#include <stdlib.h>typedef struct { float SetSpeed; float LastLocation; float err_now_0; float err_last_1; float Kp; f...原创 2019-01-25 09:01:45 · 1947 阅读 · 0 评论 -
PID(六、梯形积分PID)
#include <stdio.h>#include <math.h>#include <stdlib.h>typedef struct { float SetSpeed; float LastLocation; float err_now_0; float err_last_1; float Kp; f...原创 2019-01-25 09:08:59 · 871 阅读 · 2 评论 -
PID(七、变积分PID)
#include <stdio.h>#include <stdlib.h>#include <math.h>typedef struct { float SetSpeed; float LastLocation; float err_now_0; float err_last_1; float Kp; f...原创 2019-01-25 09:26:07 · 823 阅读 · 0 评论 -
PID(八、不完全微分PID)
#include <stdio.h>typedef struct { float SetLocation; float LastLocation; float err_now_0; float err_last_1; float err_sum; float Kp; float Ki; float Kd; f...原创 2019-01-25 14:48:14 · 1951 阅读 · 0 评论