PID算法
本帖最后由 darhy_chang 于 2016-10-14 14:00 编辑前阵子在做实验中遇到了一个问题，想了好久没有解决，到了CPUBBS后终于弄明白了原理，感谢论坛中的大神，看到论坛中一些网友求助PID的程序，我也看了论坛里网友写的PID程序，感觉网友写的PID并不是完整的，只是单独的一个比例调节，根据PID的公式应该还有积分和微分的调节，所以修改了一下程序，希望能对网友有帮助，试了几个数，感觉调节的效果还可以，如有程序有可以完善的地方，希望网友多给给意见:handshake:handshake:handshake
实际调试：我们假设要调节的目标值为10，初始值为5，取50个点
首先调节P，如下图，我们发现比例这个值上下振荡比较大，肯定是P比例的值取大了，所以下面减小P
减小P的值后，输出值如下，这时候差不多是10附近了，但是我们发现系统响应有点慢，而调节响应是调节积分i,所以下面我们调节积分
增加积分的值后输出的值如下图，我们发现增加积分的值后，系统响应明显提升了，但是响应越大，扰动也越大，这时候我们需要调节微分了
调节微分时候，要注意，比例和积分调节的是与输出的稳定成正比，但是微分是与输出的稳定成反比，微分越小，越稳定，如下图
调节微分参数后，系统比以前更稳定
上面就是我对于PID算法的理解，程序见附件，如果网友对于我PID调节的方式活描述方式有疑问，欢迎一起讨论一下，谢谢！！！
顶一个,哥们写得真详细
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