{"id":1590,"date":"2025-03-12T19:35:54","date_gmt":"2025-03-12T11:35:54","guid":{"rendered":"https:\/\/aoofoo.com\/?p=1590"},"modified":"2025-03-12T19:35:54","modified_gmt":"2025-03-12T11:35:54","slug":"6-2-pid%e5%9f%ba%e6%9c%ac%e5%8e%9f%e7%90%86","status":"publish","type":"post","link":"https:\/\/aoofoo.com\/index.php\/2025\/03\/12\/6-2-pid%e5%9f%ba%e6%9c%ac%e5%8e%9f%e7%90%86\/","title":{"rendered":"6.2 PID\u57fa\u672c\u539f\u7406"},"content":{"rendered":"<h2>PID\u7b80\u4ecb<\/h2>\n<p>PID\u662f\u6bd4\u4f8b\uff08Proportional\uff09\u3001\u79ef\u5206\uff08Integral\uff09\u3001\u5fae\u5206\uff08Differential\uff09\u7684\u7f29\u5199 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Loop\uff09\uff1a\u63a7\u5236\u5668\u5355\u5411\u8f93\u51fa\u503c\u7ed9\u88ab\u63a7\u5bf9\u8c61\uff0c\u4e0d\u83b7\u53d6\u88ab\u63a7\u5bf9\u8c61\u7684\u53cd\u9988\uff0c\u63a7\u5236\u5668\u5bf9\u88ab\u63a7\u5bf9\u8c61\u7684\u6267\u884c\u72b6\u6001\u4e0d\u6e05\u695a\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1591\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-12-161637.png\" alt=\"\" width=\"816\" height=\"146\" \/><\/p>\n<p>\u95ed\u73af\uff08Closed Loop\uff09\uff1a\u63a7\u5236\u5668\u8f93\u51fa\u503c\u7ed9\u88ab\u63a7\u5bf9\u8c61\uff0c\u540c\u65f6\u83b7\u53d6\u88ab\u63a7\u5bf9\u8c61\u7684\u53cd\u9988\uff0c\u63a7\u5236\u5668\u77e5\u9053\u88ab\u63a7\u5bf9\u8c61\u7684\u6267\u884c\u72b6\u6001\uff0c\u53ef\u4ee5\u6839\u636e\u53cd\u9988\u4fee\u6539\u8f93\u51fa\u503c\u4ee5\u4f18\u5316\u63a7\u5236\u3002\u00a0<img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1592\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-12-161642.png\" alt=\"\" width=\"815\" height=\"231\" \/><\/p>\n<h3>PID\u516c\u5f0f\u4e0e\u7cfb\u7edf\u6846\u56fe<\/h3>\n<p>\u5b9a\u4e49\u8bef\u5dee\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1595\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-12-165541.png\" alt=\"\" width=\"535\" height=\"42\" \/><\/p>\n<p>PID\u8f93\u51fa\u503c\uff1aerror(t)+Ti\u5206\u4e4b\u4e00\u500d\u7684error(t)\u4ece0~t\u7684\u79ef\u5206+Td\u500d\u7684error(t)\u5bf9t\u6c42\u5fae\u5206\u3002Kp\u662f\u6bd4\u7387\u7cfb\u6570\uff0cTi\u662f\u79ef\u5206\u65f6\u95f4\u5e38\u6570\uff0cTd\u662f\u5fae\u5206\u65f6\u95f4\u5e38\u6570\u3002\uff08\u6b64\u516c\u5f0f\u4e0d\u5e38\u7528\uff0c\u6211\u4eec\u6bd4\u8f83\u5e38\u7528\u7684\u662f\u4e0b\u9762\u7684\u516c\u5f0f\uff01\uff09<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1596\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-12-165558.png\" alt=\"\" width=\"838\" height=\"68\" \/><\/p>\n<p>PID\u8f93\u51fa\u503c\uff1aKp*error(t)+Ki*error(t)\u4ece0~t\u7684\u79ef\u5206+Kd*error(t)\u5bf9t\u6c42\u5fae\u5206\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1597\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-12-165605.png\" alt=\"\" width=\"907\" height=\"64\" 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loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1598\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-12-165637.png\" alt=\"\" width=\"1274\" height=\"432\" \/><\/p>\n<h4>\u6bd4\u4f8b\u9879\uff08P\uff09<\/h4>\n<p>\u53ea\u542b\u6709\u6bd4\u4f8b\u9879\u7684PID\u8f93\u51fa\u503c\uff1a out(t)=Kp\u2217error(t)<\/p>\n<p>\u6bd4\u4f8b\u9879\u7684\u8f93\u51fa\u503c\u4ec5\u53d6\u51b3\u4e8e\u5f53\u524d\u65f6\u523b\u7684\u8bef\u5dee\uff0c\u4e0e\u5386\u53f2\u65f6\u523b\u65e0\u5173\u3002\u5f53\u524d\u5b58\u5728\u8bef\u5dee\u65f6\uff0c\u6bd4\u4f8b\u9879\u8f93\u51fa\u4e00\u4e2a\u4e0e\u8bef\u5dee\u5448\u6b63\u6bd4\u7684\u503c\uff0c\u5f53\u524d\u4e0d\u5b58\u5728\u8bef\u5dee\u65f6\uff0c\u6bd4\u4f8b\u9879\u8f93\u51fa0\u3002<\/p>\n<p>Kp\u8d8a\u5927\uff0c\u6bd4\u4f8b\u9879\u6743\u91cd\u8d8a\u5927\uff0c\u7cfb\u7edf\u54cd\u5e94\u8d8a\u5feb\uff0c\u4f46\u8d85\u8c03\u4e5f\u4f1a\u968f\u4e4b\u589e\u52a0\uff1b\u6bd4\u5982\u5f53\u524d\u8bef\u5dee\u662f10\uff0c\u610f\u601d\u662f\u5b9e\u9645\u503c\u6bd4\u76ee\u6807\u503c\u4f4e10\uff0c\u90a3\u4e48\u8f93\u51fa\u80af\u5b9a\u8981\u8fdb\u884c\u6b63\u5411\u8c03\u63a7\uff0c\u8ba9\u5b9e\u9645\u503c\u9ad8\u4e00\u4e9b\uff0c\u7136\u540e\uff0c\u5982\u679cKp\u7ed90.1\uff0c\u90a3\u4e48\u8f93\u51fa\u503c\u662f1\uff0c\u90a3\u4e48\u610f\u601d\u5c31\u662f\u6b63\u5411\u8c03\u63a71\uff080.1*10\uff09\u8fd9\u4e48\u5927\u7684\u529b\u5ea6\uff0c\u5982\u679cKp\u7ed91\uff0c\u90a3\u4e48\u610f\u601d\u5c31\u662f\u6b63\u5411\u8c03\u63a710\uff081*10\uff09\u8fd9\u4e48\u5927\u7684\u529b\u5ea6\uff0c\u6240\u4ee5Kp\u8d8a\u5927\uff0c\u8c03\u63a7\u7684\u529b\u5ea6\u5c31\u8d8a\u5927\u3002\u4f46\u662fKp\u4e0d\u80fd\u592a\u5927\uff0c\u5426\u5219\u53ea\u6709\u4e00\u70b9\u5f88\u5c0f\u7684\u8bef\u5dee\uff0cP\u9879\u5c31\u5f88\u731b\u7684\u8c03\uff0c\u663e\u7136\u4f1a\u5bfc\u81f4\u8d85\u8c03\uff0c\u751a\u81f3\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u81ea\u6fc0\u632f\u8361\u3002<\/p>\n<p>\u4f46\u662f\u7eaf\u6bd4\u4f8b\u9879\u63a7\u5236\u65f6\uff0c\u4f1a\u6709\u4e00\u4e2a\u95ee\u9898\uff0c\u90a3\u5c31\u662f\u7eaf\u6bd4\u4f8b\u9879\u63a7\u5236\u65f6\uff0c\u7cfb\u7edf\u4e00\u822c\u4f1a\u5b58\u5728\u7a33\u6001\u8bef\u5dee\uff0cKp\u8d8a\u5927\uff0c\u7a33\u6001\u8bef\u5dee\u8d8a\u5c0f\u3002\u4f46\u6211\u4eec\u521a\u624d\u8bf4\u4e86\uff0cKp\u4e0d\u80fd\u65e0\u9650\u52a0\u5927\uff0c\u4f1a\u5bfc\u81f4\u8d85\u8c03\uff0c\u6240\u4ee5\u901a\u8fc7\u4f7f\u52b2\u52a0\u5927Kp\u6765\u6d88\u9664\u7a33\u6001\u8bef\u5dee\u662f\u4e0d\u73b0\u5b9e\u7684\uff0c\u90a3\u4e48\u7a33\u6001\u8bef\u5dee\u662f\u4ec0\u4e48\uff1f\u4e3a\u4ec0\u4e48\u4f1a\u6709\u7a33\u6001\u8bef\u5dee\uff1f\u6211\u4eec\u6765\u770b\u770b\u56fe\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1599\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-12-172355.png\" alt=\"\" width=\"1333\" height=\"1011\" \/><\/p>\n<p>\u6211\u4eec\u53ef\u4ee5\u770b\u5230\uff0cKp\u4ece0.25\u52301\u4e4b\u95f4\u7684\u6ce2\u5f62\uff0c\u6211\u4eec\u7684\u7ea2\u7ebf\u662f\u8bbe\u5b9a\u503c\uff0c\u7d2b\u7ebf\u662f\u5b9e\u9645\u503c\uff0c\u7ea2\u7ebf\u548c\u7d2b\u7ebf\u7684\u5dee\u503c\u5c31\u662f\u201c\u7a33\u6001\u8bef\u5dee\u201d\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230\uff0cKp\u8d8a\u5927\uff0c\u7a33\u6001\u8bef\u5dee\u8d8a\u5c0f\uff0c\u4f46\u540c\u6837\u7684\u4f1a\u51fa\u73b0\u8d8a\u6765\u8d8a\u4e25\u91cd\u7684\u8d85\u8c03\u73b0\u8c61\u3002\u5f53Kp\u4e3a1\u65f6\uff0c\u8d85\u8c03\u73b0\u8c61\u5df2\u7ecf\u5f88\u4e25\u91cd\uff0c\u4f46\u7a33\u6001\u8bef\u5dee\u4ecd\u7136\u6ca1\u6709\u88ab\u6d88\u9664\uff0c\u6240\u4ee5\u6240\u4ee5\u901a\u8fc7\u4f7f\u52b2\u52a0\u5927Kp\u6765\u6d88\u9664\u7a33\u6001\u8bef\u5dee\u662f\u4e0d\u73b0\u5b9e\u7684\u3002<\/p>\n<p>PID\u7a33\u6001\u8bef\u5dee\uff1a\u7cfb\u7edf\u8fdb\u5165\u7a33\u6001\u65f6\uff0c\u5b9e\u9645\u503c\u548c\u76ee\u6807\u503c\u5b58\u5728\u59cb\u7ec8\u4e00\u4e2a\u7a33\u5b9a\u7684\u5dee\u503c\u3002<\/p>\n<p>\u7a33\u6001\u8bef\u5dee\u4ea7\u751f\u539f\u56e0\uff1a\u7eaf\u6bd4\u4f8b\u9879\u63a7\u5236\u65f6\uff0c\u82e5\u8bef\u5dee\u4e3a0\uff0c\u5219\u6bd4\u4f8b\u9879\u7ed3\u679c\u4e5f\u4e3a0\u3002\u88ab\u63a7\u5bf9\u8c61\u8f93\u51650\u65f6\uff0c\u4e00\u822c\u4f1a\u81ea\u53d1\u5730\u5411\u4e00\u4e2a\u65b9\u5411\u504f\u79fb\uff0c\u4ea7\u751f\u8bef\u5dee\u3002\u4ea7\u751f\u8bef\u5dee\u540e\uff0c\u8bef\u5dee\u975e0\uff0c\u6bd4\u4f8b\u9879\u8d1f\u53cd\u9988\u8c03\u63a7\u8f93\u51fa\uff0c\u5f53\u8c03\u63a7\u8f93\u51fa\u529b\u5ea6\u548c\u81ea\u53d1\u504f\u79fb\u529b\u5ea6\u76f8\u540c\u65f6\uff0c\u7cfb\u7edf\u8fbe\u5230\u7a33\u6001\u3002<\/p>\n<p>\u8bf4\u767d\u4e86\uff0c\u6211\u4eec\u8fd9\u4e2a\u5b9e\u9a8c\u662f\u901a\u8fc7PWM\u8c03\u8282\u7684\uff0c\u4f60\u60f3\uff0cPID\u7684\u7684\u8f93\u51fa\u503c\u4e3a0\uff0c\u90a3\u4e48\u9a71\u52a8\u529b\u5c31\u76f8\u5f53\u4e8e\u662f0\uff0c\u7535\u673a\u5c31\u4e0d\u4f1a\u7ef4\u6301\u539f\u6765\u7684\u901f\u5ea6\u65cb\u8f6c\u4e86\uff0c\u56e0\u4e3a\u7535\u673a\u6709\u6469\u64e6\u529b\uff0c\u5982\u679c\u4e0d\u6301\u7eed\u7684\u7ed9\u9a71\u52a8\u529b\uff0c\u7535\u673a\u80af\u5b9a\u4f1a\u81ea\u53d1\u7684\u51cf\u901f\uff0c\u7535\u673a\u53ea\u8981\u4e00\u51cf\u901f\uff0c\u8bef\u5dee\u5c31\u4e0d\u662f0\u4e86\uff0c\u6b64\u65f6\u7535\u673a\u7684\u5b9e\u9645\u901f\u5ea6\u4f4e\u4e8e\u76ee\u6807\u901f\u5ea6\uff0c\u8bef\u5dee\u4e3a\u6b63\uff0c\u6bd4\u4f8b\u9879\u8f93\u51fa\u503c\u662f\u6b63\u7684\uff0c\u968f\u7740\u7535\u673a\u6301\u7eed\u51cf\u901f\uff0cPWM\u5360\u7a7a\u6bd4\u4f1a\u9010\u6e10\u589e\u5927\uff0c\u4e5f\u5c31\u662f\u7535\u673a\u9a71\u52a8\u529b\u5ea6\u4f1a\u9010\u6e10\u52a0\u5927\uff0c\u76f4\u5230\u7535\u673a\u9a71\u52a8\u529b\u5ea6\u548c\u6469\u64e6\u529b\u7684\u529b\u5ea6\u5e73\u8861\uff0c\u7cfb\u7edf\u8fbe\u5230\u7a33\u6001\uff1a<\/p>\n<p>1 \u5047\u8bbe\u6ca1\u6709\u7a33\u6001\u8bef\u5dee\uff0c\u5219\u7535\u673a\u901f\u5ea6 = \u76ee\u6807\u901f\u5ea6\u3002<\/p>\n<p>2 \u6b64\u65f6\u8bef\u5dee\u4e3a0\uff0cPID\u8f93\u51fa\u4e3a0\uff0c\u7535\u673a\u6ca1\u6709\u9a71\u52a8\u529b\u3002<\/p>\n<p>3 \u7535\u673a\u5fc5\u7136\u7531\u4e8e\u6469\u64e6\u529b\u51cf\u901f\uff0c\u4ea7\u751f\u8bef\u5dee\u3002<\/p>\n<p>4 \u8bef\u5dee\u8d8a\u5927\uff0c\u6bd4\u4f8b\u9879\u8f93\u51fa\u8d8a\u5927\uff0c\u7535\u673a\u9a71\u52a8\u529b\u5ea6\u8d8a\u5927\u3002<\/p>\n<p>5 \u7535\u673a\u9a71\u52a8\u529b\u5ea6\u548c\u6469\u64e6\u529b\u5e73\u8861\uff0c\u7535\u673a\u4e0d\u518d\u51cf\u901f\uff0c\u8bef\u5dee\u4e0d\u518d\u589e\u5927\uff0c\u9a71\u52a8\u529b\u4e0d\u518d\u589e\u5927\uff0c\u7cfb\u7edf\u8fbe\u5230\u7a33\u6001\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u5224\u65ad\u662f\u5426\u4f1a\u4ea7\u751f\u7a33\u6001\u8bef\u5dee\uff1a\u7ed9\u88ab\u63a7\u5bf9\u8c61\u8f93\u51650\uff0c\u5224\u65ad\u88ab\u63a7\u5bf9\u8c61\u4f1a\u4e0d\u4f1a\u81ea\u53d1\u504f\u79fb\u3002<\/p>\n<p>\u5224\u65ad\u7a33\u6001\u8bef\u5dee\u7684\u65b9\u5411\uff1a\u7ed9\u88ab\u63a7\u5bf9\u8c61\u8f93\u51650\uff0c\u81ea\u53d1\u504f\u79fb\u65b9\u5411\u5373\u4e3a\u7a33\u6001\u8bef\u5dee\u65b9\u5411\u3002<\/p>\n<p>\u5927\u5bb6\u7684\u7591\u60d1\uff1a<\/p>\n<p>\u4f60\u53ef\u80fd\u8ba4\u4e3a\uff0c\u8fd9\u91cc\u5b9e\u9a8cPID\u7684\u8f93\u51fa\u503c\u76f4\u63a5\u7ed9\u5230PWM\u5360\u7a7a\u6bd4\u8fd9\u6837\u4e0d\u5bf9\uff0c\u4f60\u5e94\u8be5error *Kp += PWM\uff0c\u8d4b\u503c\u7ed9\u5f53\u524d\u7684\u5360\u7a7a\u6bd4\uff0c\u610f\u601d\u5c31\u662f\uff0c\u6bd4\u4f8b\u9879\u8f93\u51fa\u6b63\uff0c\u6211\u5148\u8bfb\u53d6\u539f\u6765\u7684PWM\u5360\u7a7a\u6bd4\uff0c\u7136\u540e\u6211\u5728\u539f\u6765PWM\u5360\u7a7a\u6bd4\u7684\u57fa\u7840\u4e0a\uff0c\u52a0\u4e0a\u6bd4\u4f8b\u9879\u7684\u8f93\u51fa\uff0c\u4f5c\u4e3a\u65b0\u7684PWM\u5360\u7a7a\u6bd4\uff0c\u8fd9\u6837\u5c31\u80fd\u5b9e\u73b0\uff0c\u8bef\u5dee\u4e3a\u6b63\u65f6\uff0c\u6211\u52a0\u5927\u5360\u7a7a\u6bd4\uff0c\u5fc5\u7136\u662f\u52a0\u901f\uff0c\u8bef\u5dee\u4e3a\u8d1f\u65f6\uff0c\u6211\u51cf\u5c0f\u5360\u7a7a\u6bd4\uff0c\u5fc5\u7136\u662f\u51cf\u901f\uff0c\u8fd9\u6837\u4e0d\u5c31\u597d\u5566\uff1f<\/p>\n<p>\u8fd9\u6837\u7684\u64cd\u4f5c\uff0c\u786e\u5b9e\u6ca1\u6709\u7a33\u6001\u8bef\u5dee\uff0c\u4f46\u662f\u4f1a\u51fa\u73b0\u4e24\u4e2a\u95ee\u9898\uff1a<\/p>\n<p>1.\u201c\u6bd4\u4f8b\u9879\u7684\u8f93\u51fa\u503c\u4ec5\u53d6\u51b3\u4e8e\u5f53\u524d\u65f6\u523b\u7684\u8bef\u5dee\uff0c\u4e0e\u5386\u53f2\u65f6\u523b\u65e0\u5173\u201d\uff0c\u610f\u601d\u5c31\u662f\u5bf9\u4e8e\u6bd4\u4f8b\u9879\u6765\u8bf4\uff0c\u4e0a\u4e00\u6b21\u7684\u8f93\u51fa\u503c\uff0c\u6211\u4eec\u662f\u4e0d\u77e5\u9053\u7684\uff0c\u65e2\u7136\u4e0d\u77e5\u9053\u4e0a\u4e00\u6b21\u8f93\u51fa\u4e86\u4ec0\u4e48\uff0c\u90a3\u4e48\u6211\u4eec\u8fd9\u6b21\u7684\u8fd0\u7b97\u7ed3\u679c\uff0c\u5c31\u6ca1\u529e\u6cd5+=\u8d4b\u503c\u7ed9\u4e0a\u4e00\u6b21\u7684\u7ed3\u679c\u4e86\u3002<\/p>\n<p>2.error\u4e58\u4ee5\u4e00\u4e2a\u7cfb\u6570\uff0c\u7136\u540e+=\u8d4b\u503c\u7ed9\u4e0a\u4e00\u4e2a\u8f93\u51fa\u503c\uff0c\u8fd9\u6b63\u662f\u79ef\u5206I\u7684\u4f5c\u7528\uff0c\u4f60\u60f3\u7684\u65b9\u6cd5\u4e0d\u662f\u4e0d\u53ef\u884c\uff0c\u800c\u662f\u8fd9\u4e2a\u60f3\u6cd5\u672c\u6765\u5c31\u662fPID\u4e2d\u7684\u79ef\u5206\u9879\uff01\u4f60\u7684\u60f3\u6cd5\u548cPID\u7684\u60f3\u6cd5\u662f\u4e00\u6837\u7684\uff01<\/p>\n<h4>\u79ef\u5206\u9879\uff08I\uff09<\/h4>\n<p>\u542b\u6709\u6bd4\u4f8b\u9879\u548c\u79ef\u5206\u9879\u7684PID\u8f93\u51fa\u503c\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone  wp-image-1600\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-12-183010.png\" alt=\"\" width=\"678\" height=\"103\" 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PID\u662f\u6bd4\u4f8b\uff08Proportional\uff09\u3001\u79ef\u5206\uff08Integral\uff09\u3001\u5fae\u5206\uff08Differential 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