直流电机闭环PID控制
int32_t sp=0,pv=0,pv_1=0,e=0,e_i=0,e_d = 0,out=0; float Kp = 20.0; float Ki = 0.01; float Kd = 10.0; sp = 10000; while (1) { //error pv=TIM2->CNT; e = sp - pv; //derivative = e - e_i,in case sp changes,use pv e_d = pv_1 - pv;...
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2020-08-10 14:12:20 ·
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