下面是一段简单的PID算法代码,用于控制永磁同步电机的转速:
class PID:
def __init__(self, Kp, Ki, Kd):
self.Kp = Kp
self.Ki = Ki
self.Kd = Kd
self.last_error = 0
self.sum_error = 0
def update(self, error, dt):
self.sum_error += error * dt
derivative = (error