PID算法是一种用于控制系统的算法。在Python中实现PID算法需要使用数学库numpy和scipy。
示例代码如下:
from scipyimport signal
import numpy as np
class PID:
def __init__(self, Kp, Ki, Kd):
self.Kp = Kp
self.Ki = Ki
self.Kd = Kd
self.prev_error = 0
self.integral = 0
def update(self, error, dt):
self.integral += error * dt
derivative = (error - self.prev_error) / dt
output = self.Kp * error + self.Ki * self.integral + self.Kd * derivative
self.prev_error = error
return output