PID笔记

参考B站的奇乐编程学院的视频: 通俗易懂的 PID 控制算法讲解

TODO

[ ] 串级PID

公式

$u(t)=K_{p} e(t)+K_{i} \int e(t) d t+K_{p} \frac{de}{dt}$

$u(t)$ : PID control variable, 控制输出值
$K_{p}$ : proportional gain, 比例增益
$e(t)$ : error value, t时刻的误差值
$K_{i}$ : integral gain, 积分增益
${de}$ : change in error value, 误差微分
${dt}$ : change in time, 时间微分

其中, $K_{p}$ , $K_{i}$ , $K_{d}$ 需要调参

计算步骤

Python代码


def pid(kp, ki, kd, dt, target, current, prev_integral, prev_error)
    error = target - current
    integral = prev_integral + error * dt
    derivative = (error - prev_error) / dt
    output = kp * error + ki * integral + kd * derivative
    return output, integral, error

error = 0
integral = 0

while True:
    output, integral, error = pid(kp, ki, kd, dt, target, current, integral)
    # device.write(output)
    # delay(dt)
    # current = device.read()