python实现输入PID绘制波形

创建界面，包括画布和按钮，分别输入P、I、D值，可以模拟pid调节。包括清除和重新绘制波形。

直接上代码和结果

import matplotlib
matplotlib.use("Qt5Agg")  # 声明使用QT5

from PyQt5.QtWidgets import *
from PyQt5.QtGui import *
from PID3_figure import MyFigure
from Ui_Dialog import Ui_Dialog
from Ui_Dialog1 import Ui_Dialog1
from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT as NavigationToolbar
from PyQt5 import  QtWidgets

from scipy.interpolate import make_interp_spline
import time
from PID3_pid import PID
import matplotlib.pyplot as plt
import numpy as np
from shapely.geometry import Point
import geopandas as gp

class MainDialogImgBW(QDialog,Ui_Dialog):
    def __init__(self):
        super(MainDialogImgBW,self).__init__()
        self.setupUi(self)
        self.setWindowTitle("PID仿真工具")
        self.setMinimumSize(0,0)

        #第五步：定义MyFigure类的一个实例
        self.F = MyFigure(width=300, height=300, dpi=100)
        #第六步：创建UI界面
        self.myWidget()


    def myWidget(self):
        # set the layout 创建widget和layout V是垂直 H是水平
        self.mlayout = QtWidgets.QVBoxLayout()

        #添加工具控件
        self.addtoolWidget()
        #添加画布控件
        self.addcanvasWidget()
        #添加按钮控件
        self.addbuttonWidget()

        # 最外层窗口添加工具窗口
        self.mlayout.addWidget(self.qwtool)
        # 最外层窗口添加一个画布的组合窗口
        self.mlayout.addWidget(self.qwcanvas)
        # 最外层窗口添加一个按钮的组合窗口
        self.mlayout.addWidget(self.qwbutton)
        # 显示最外层窗口
        self.setLayout(self.mlayout)

        # 创建工具栏，并加入窗口中
        #创建lauout和widget，把工具栏加入layout，再把layout加入widget
    def addtoolWidget(self):
        self.toolbar = NavigationToolbar(self.F.canvas, self)
        self.tollayout = QtWidgets.QVBoxLayout()
        self.tollayout.addWidget(self.toolbar)
        self.qwtool = QtWidgets.QWidget(self)
        self.qwtool.setLayout(self.tollayout)


    # 创建画布栏，并加入窗口中
    #创建画布layout和widget，把画布加入layout，再把layout加入widget
    def addcanvasWidget(self):
        self.canlayout = QtWidgets.QHBoxLayout()
        self.canlayout.addWidget(self.F.canvas)
        self.qwcanvas = QtWidgets.QWidget(self)
        self.qwcanvas.setLayout(self.canlayout)

    #创建画布layout和widget，把画布加入layout，再把layout加入widget
    def addbuttonWidget(self):
        self.label2 = QtWidgets.QLabel('P')
        self.lineEdit2 = QtWidgets.QLineEdit('1.2')
        self.label3 = QtWidgets.QLabel('I')
        self.lineEdit3 = QtWidgets.QLineEdit('1')
        self.label4 = QtWidgets.QLabel('D')
        self.lineEdit4 = QtWidgets.QLineEdit('0.001')
        self.button5 = QtWidgets.QPushButton('绘制曲线')
        self.button6 = QtWidgets.QPushButton('清除曲线')
        self.btnlayout = QtWidgets.QHBoxLayout()
        self.btnlayout.addWidget(self.label2)
        self.btnlayout.addWidget(self.lineEdit2)
        self.btnlayout.addWidget(self.label3)
        self.btnlayout.addWidget(self.lineEdit3)
        self.btnlayout.addWidget(self.label4)
        self.btnlayout.addWidget(self.lineEdit4)
        self.btnlayout.addWidget(self.button5)
        self.btnlayout.addWidget(self.button6)
        self.btnlayout.addStretch()
        self.qwbutton = QtWidgets.QWidget(self)
        self.qwbutton.setLayout(self.btnlayout)


        #按钮点击事件
        self.button5.clicked.connect(self.test_pid_new)
        self.button6.clicked.connect(self.abrasectl_new)
        # self.test_pid(1.2, 1, 0.001, L=80)


    #中间层封装
    def test_pid_new(self):
        self.test_pid(1.2, 1, 0.001, L=80)

    # 中间层封装
    def abrasectl_new(self):
        self.abrasectl()

    #PID算法及显示
    def test_pid(self,P=1.2, I=1, D=0.001, L=80):

        Ptext = self.lineEdit2.text()
        P = float(Ptext)
        Itext = self.lineEdit3.text()
        I = float(Itext)
        Dtext = self.lineEdit4.text()
        D = float(Dtext)


        pid = PID(P, I, D)
        pid.SetPoint = 1
        pid.setSampleTime(0.01)
        END = L
        feedback = 0

        feedback_list = []
        time_list = []
        setpoint_list = []

        for i in range(1, END):
            pid.update(feedback)
            output = pid.output
            if pid.SetPoint > 0:
                feedback += output  # (output - (1/i))控制系统的函数
            if i > 9:
                pid.SetPoint = 1
            time.sleep(0.01)

            feedback_list.append(feedback)
            setpoint_list.append(pid.SetPoint)
            time_list.append(i)

        time_sm = np.array(time_list)
        time_smooth = np.linspace(time_sm.min(), time_sm.max(), 300)
        # print(time_smooth)
        feedback_smooth = make_interp_spline(time_list, feedback_list)(time_smooth)
        # print(feedback_smooth)
        plt.figure(0)

        self.F.axes.plot(time_smooth, feedback_smooth)
        self.F.axes.plot(time_list, setpoint_list)

        self.F.canvas.draw()
        # self.pts = gp.GeoSeries([Point(x, y) for x, y in zip(time_smooth, feedback_smooth)])
        # self.pts.plot(ax=self.F.axes, marker='o', color='black', markersize=0.1)
        # self.pts1 = gp.GeoSeries([Point(x, y) for x, y in zip(time_smooth, setpoint_list)])
        # self.pts1.plot(ax=self.F.axes, marker='o', color='black', markersize=0.1)

        # a = plt.plot(time_smooth, feedback_smooth)
        # plt.plot(time_list, setpoint_list)
        # #plt.xlim((0, L))
        # #plt.ylim((min(feedback_list) - 0.5, max(feedback_list) + 0.5))
        # plt.xlabel('time (s)')
        # plt.ylabel('PID (PV)')
        # plt.title('TEST PID')
        # #plt.ylim((1 - 0.5, 1 + 0.5))
        #
        # plt.grid(True)
        # plt.show()

    #清除轨迹
    def abrasectl(self):
        self.F.axes.clear()
        print("清除轨迹")
        self.F.canvas.draw()

资源链接https://download.csdn.net/download/zhangtaozg1/87631325