{"id":1690,"date":"2023-07-29T15:21:40","date_gmt":"2023-07-29T07:21:40","guid":{"rendered":"https:\/\/www.huangrongzhen.ink\/?p=1690"},"modified":"2023-08-07T09:14:30","modified_gmt":"2023-08-07T01:14:30","slug":"pid-%e7%ae%97%e6%b3%95","status":"publish","type":"post","link":"https:\/\/www.huangrongzhen.ink\/?p=1690","title":{"rendered":"PID \u7b97\u6cd5"},"content":{"rendered":"<div class=\"wp-block-post-excerpt\"><p class=\"wp-block-post-excerpt__excerpt\">\u8bb0\u5f55 PID \u7b97\u6cd5\uff0c\u4e0e\u5176\u4f7f\u7528\u65b9\u5f0f\u3002 <\/p><\/div>\n\n\n<p>PID \u7b97\u6cd5\u5982\u4e0b\u6240\u793a\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"c\" class=\"language-c\">\/*********************************************************************************************************\n* \u51fd\u6570\u540d\u79f0\uff1aPID\n* \u51fd\u6570\u529f\u80fd\uff1aPID \u7b97\u6cd5\n* \u8f93\u5165\u53c2\u6570\uff1ae\uff1a\u8bef\u5dee\u503c\n*           kp\uff1a\u6bd4\u4f8b\u7cfb\u6570\n*           ki\uff1a\u79ef\u5206\u7cfb\u6570\n*           kd\uff1a\u5fae\u5206\u7cfb\u6570\n* \u8f93\u51fa\u53c2\u6570\uff1avoid\n* \u8fd4 \u56de \u503c\uff1a\u4fee\u6539\u91cf\n* \u521b\u5efa\u65e5\u671f\uff1a2023\u5e7407\u670831\u65e5\n* \u6ce8    \u610f\uff1a\n*********************************************************************************************************\/\ndouble PID(double e, double kp, double ki, double kd)\n{\n  static double e_s = 0; \/\/\u7528\u4e8e\u4fdd\u5b58\u4e0a\u4e00\u6b21\u7684\u8bef\u5dee\u503c\uff0c\u8ba1\u7b97\u5fae\u5206\u9879\n  static double sum = 0; \/\/\u7528\u4e8e\u8ba1\u7b97\u7d2f\u52a0\u548c\uff0c\u8ba1\u7b97\u79ef\u5206\u9879\n  double r;\n\n  \/\/\u8ba1\u7b97\u79ef\u5206\u7d2f\u52a0\u548c\n  sum = sum + e;\n\n  \/\/\u4ece\u5de6\u81f3\u53f3\u5206\u522b\u662f\u7684\u6bd4\u4f8b\u9879\u3001\u79ef\u5206\u9879\u3001\u5fae\u5206\u9879\n  r = kp * e + ki * sum + kd * (e - e_s);\n\n  \/\/\u4fdd\u5b58\u8fd9\u4e00\u6b21\u7684\u8bef\u5dee\u503c\u7528\u4e8e\u4e0b\u4e00\u6b21\u5fae\u5206\u8fd0\u7b97\n  e_s = e;\n\n  \/\/\u8fd4\u56de\u4fee\u6539\u91cf\n  return r;\n}<\/code><\/pre>\n\n\n\n<p>\u5e94\u7528\u5b9e\u4f8b\u5982\u4e0b\u6240\u793a\uff0c\u4e0b\u8ff0\u4ee3\u7801\u7528\u4e8e\u63a7\u5236\u7535\u673a\u8f6c\u901f\u3002\u6b64\u5904 PWM \u503c\u4e0e\u7535\u673a\u901f\u5ea6\u6210\u6b63\u76f8\u5173\u5173\u7cfb\uff0c\u8303\u56f4\u5728 0~TIM8-&gt;ARR \u4e4b\u95f4\u3002TIM8-&gt;ARR \u914d\u7f6e\u4e3a 1000\u3002PWM \u503c\u8d8a\u5927\uff0c\u7535\u673a\u8f6c\u901f\u8d8a\u5feb\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"cpp\" class=\"language-cpp\">static int    s_iTargetSpeed = 0;  \/\/\u76ee\u6807\u901f\u5ea6\nstatic double s_fCurrentPWM = 0;   \/\/\u5f53\u524d PWM \u503c\n\n\/\/\u7535\u673a\u4efb\u52a1\u7ed3\u6784\u4f53\uff0c\u6bcf\u9694 100ms \u6267\u884c\u4e00\u6b21\nvoid DMTask(void)\n{\n  static const double c_fKP = 0.25;   \/\/\u6bd4\u4f8b\u7cfb\u6570\n  static const double c_fKI = 0.0001; \/\/\u79ef\u5206\u7cfb\u6570\n  static const double c_fKD = 0;      \/\/\u5fae\u5206\u7cfb\u6570\n  int speed;                          \/\/\u5f53\u524d\u901f\u5ea6\u503c\n  double e;                           \/\/\u8bef\u5dee\u8303\u56f4\n\n  \/\/\u901f\u5ea6\u6d4b\u91cf\u5b8c\u6210\n  if(IsSpeedReady())\n  {\n    \/\/\u83b7\u53d6\u6d4b\u91cf\u901f\u5ea6\uff0c\u901f\u5ea6\u6d4b\u91cf\u5b8c\u6210\u6807\u5fd7\u4f4d\u4f1a\u88ab\u81ea\u52a8\u6e05\u9664\n    speed = GetSpeed();\n    \n    \/\/\u8ba1\u7b97\u8bef\u5dee\u503c\n    e = s_iTargetSpeed - speed;\n    \n    \/\/PID\uff0c\u4e3a\u9632\u6b62 PWM \u53d8\u5316\u8fc7\u5feb\uff0c\u51fa\u73b0\u6781\u5927\u503c\u6781\u5c0f\u503c\u4e4b\u95f4\u4ea4\u66ff\u53d8\u5316\uff0c\u9700\u8981\u5bf9\u8bef\u5dee\u503c\u5927\u5c0f\u505a\u4e00\u4e9b\u9650\u5b9a\n    e = PID(e, c_fKP, c_fKI, c_fKD);\n    if(e > 100){e = 100;}\n    if(e &lt; -100){e = -100;}\n    \n    \/\/\u91cd\u65b0\u8bbe\u7f6e PWM\uff0cPWM \u8303\u56f4\u8981\u5728 0~TIM8->ARR \u4e4b\u95f4\n    s_fCurrentPWM = s_fCurrentPWM + e;\n    if(s_fCurrentPWM > TIM8->ARR){s_fCurrentPWM = TIM8->ARR;}\n    if(s_fCurrentPWM &lt; 0){s_fCurrentPWM = 0;}\n    TIM_SetCompare3(TIM8, s_fCurrentPWM);\n  }\n}<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u8bb0\u5f55 PID \u7b97\u6cd5\uff0c\u4e0e\u5176\u4f7f\u7528\u65b9\u5f0f\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[5],"tags":[],"_links":{"self":[{"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=\/wp\/v2\/posts\/1690"}],"collection":[{"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1690"}],"version-history":[{"count":14,"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=\/wp\/v2\/posts\/1690\/revisions"}],"predecessor-version":[{"id":1739,"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=\/wp\/v2\/posts\/1690\/revisions\/1739"}],"wp:attachment":[{"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1690"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1690"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.huangrongzhen.ink\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1690"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}