{"id":1607,"date":"2025-03-13T10:39:11","date_gmt":"2025-03-13T02:39:11","guid":{"rendered":"https:\/\/aoofoo.com\/?p=1607"},"modified":"2025-03-13T10:39:11","modified_gmt":"2025-03-13T02:39:11","slug":"6-3-%e7%a6%bb%e6%95%a3pid","status":"publish","type":"post","link":"https:\/\/aoofoo.com\/index.php\/2025\/03\/13\/6-3-%e7%a6%bb%e6%95%a3pid\/","title":{"rendered":"6.3 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loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1611\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-13-092220.png\" alt=\"\" width=\"1539\" height=\"609\" \/><\/p>\n<p>\u5927\u5bb6\u4e5f\u53d1\u73b0\u4e86\uff0c\u53ef\u4ee5\u8bf4\u79bb\u6563\u5f0fPID\u57fa\u672c\u516c\u5f0f\uff0c\u5c31\u662f\u4f4d\u7f6e\u5f0fPID\uff0c\u8fd9\u4e2a\u4f4d\u7f6e\u5f0fPID\u53ef\u4ee5\u8986\u76d6\u51e0\u4e4e\u6240\u6709\u9700\u8981\u7528\u5230PID\u7684\u573a\u666f\u4e2d\u3002<\/p>\n<p>\u7136\u540e\u8fd8\u6709\u4e00\u4e2a\u6bd4\u8f83\u6d41\u884c\u7684\u516c\u5f0f\uff0c\u90a3\u5c31\u662f\u589e\u91cf\u5f0fPID\uff0c\u589e\u91cf\u5f0fPID\u662f\u7531\u4f4d\u7f6e\u5f0fPID\u53d8\u6362\u800c\u6765\u7684\uff0c\u5e76\u4e14\u6211\u4eec\u770b\u5230\u6ca1\u6709\u4efb\u4f55\u6c42\u548c\u516c\u5f0f\uff0c\u53ea\u662f\u672c\u6b21\u3001\u4e0a\u6b21\u548c\u4e0a\u4e0a\u6b21\u7684error\u7ebf\u6027\u7ec4\u5408\u3002<\/p>\n<p>\u90a3\u4e48\uff0c\u589e\u91cf\u5f0fPID\u548c\u4f4d\u7f6e\u5f0fPID\u4e3a\u4ec0\u4e48\u8981\u8fd9\u6837\u533a\u5206\u5462\uff1f\u6709\u4ec0\u4e48\u4f5c\u7528\u5462\uff1f<\/p>\n<p>\u4f4d\u7f6e\u5f0fPID\u7531\u8fde\u7eed\u5f62\u5f0fPID\u76f4\u63a5\u79bb\u6563\u5f97\u5230\uff0c\u6bcf\u6b21\u8ba1\u7b97\u5f97\u5230\u7684\u662f\u5168\u91cf\u7684\u8f93\u51fa\u503c\uff0c\u53ef\u4ee5\u76f4\u63a5\u7ed9\u88ab\u63a7\u5bf9\u8c61\u3002<\/p>\n<p>\u589e\u91cf\u5f0fPID\u7531\u4f4d\u7f6e\u5f0fPID\u63a8\u5bfc\u5f97\u5230\uff0c\u6bcf\u6b21\u8ba1\u7b97\u5f97\u5230\u7684\u662f\u8f93\u51fa\u503c\u7684\u589e\u91cf\uff0c\u5982\u679c\u76f4\u63a5\u7ed9\u88ab\u63a7\u5bf9\u8c61\uff0c\u5219\u9700\u8981\u88ab\u63a7\u5bf9\u8c61\u5185\u90e8\u6709\u79ef\u5206\u529f\u80fd\u3002<\/p>\n<p>\u589e\u91cf\u5f0fPID\u4e5f\u53ef\u5728\u63a7\u5236\u5668\u5185\u8fdb\u884c\u79ef\u5206\uff0c\u7136\u540e\u8f93\u51fa\u79ef\u5206\u540e\u7684\u7ed3\u679c\uff0c\u6b64\u65f6\u589e\u91cf\u5f0fPID\u4e0e\u4f4d\u7f6e\u5f0fPID\u6574\u4f53\u529f\u80fd\u6ca1\u6709\u533a\u522b\u3002<\/p>\n<p>\u4f4d\u7f6e\u5f0fPID\u548c\u589e\u91cf\u5f0fPID\u8ba1\u7b97\u65f6\u4ea7\u751f\u7684\u4e2d\u95f4\u53d8\u91cf\u4e0d\u540c\uff0c\u5982\u679c\u5bf9\u8fd9\u4e9b\u53d8\u91cf\u52a0\u4ee5\u8c03\u8282\uff0c\u53ef\u4ee5\u5b9e\u73b0\u4e0d\u540c\u7684\u7279\u6027\u3002\u8fd9\u91cc\u7684\u4e0d\u540c\u7279\u6027\u6709\u5f88\u591a\uff0c\u6bd4\u5982\u8bf4\uff0c\u4f4d\u7f6e\u5f0fPID\u7684\u4e2d\u95f4\u53d8\u91cf\u662f\u8bef\u5dee\u79ef\u5206\uff0c\u53ef\u4ee5\u5355\u72ec\u8fdb\u884c\u79ef\u5206\u9650\u5e45\uff0c\u9632\u6b62\u79ef\u5206\u9971\u548c\uff0c\u800c\u5185\u90e8\u79ef\u5206\u7684\u589e\u91cf\u5f0fPID\u6ca1\u6cd5\u5355\u72ec\u5bf9\u79ef\u5206\u73af\u8282\u9650\u5e45\u3002\u6362\u4e00\u79cd\u8bf4\u8bdd\uff0c\u5c31\u662f\u5185\u90e8\u79ef\u5206\u7684\u589e\u91cf\u5f0fPID\uff0c\u53ea\u9700\u8981\u5bf9\u8f93\u51fa\u503c\u9650\u5e45\uff0c\u5c31\u53ef\u4ee5\u540c\u65f6\u5b9e\u73b0\u79ef\u5206\u9650\u5e45\u548c\u8f93\u51fa\u9650\u5e45\u4e24\u4e2a\u529f\u80fd\uff1b\u800c\u4f4d\u7f6e\u5f0fPID\uff0c\u8f93\u51fa\u9650\u5e45\u548c\u79ef\u5206\u9650\u5e45\u5f97\u5206\u5f00\u8fdb\u884c\u3002\u53e6\u5916\uff0c\u4f4d\u7f6e\u5f0fPID\u6bcf\u6b21\u8ba1\u7b97\u5f97\u5230\u7684\u662f\u5168\u91cf\u8f93\u51fa\u503c\uff0c\u5982\u679c\u4fe1\u53f7\u6709\u566a\u58f0\u5e72\u6270\uff0c\u4e0d\u540c\u8f93\u51fa\u503c\u53ef\u80fd\u4f1a\u76f8\u5dee\u5f88\u5927\uff0c\u8fd9\u4f1a\u5bfc\u81f4\u6267\u884c\u673a\u6784\u5927\u5e45\u5ea6\u53d8\u5316\uff0c\u800c\u589e\u91cf\u5f0fPID\u6216\u8005\u5185\u90e8\u79ef\u5206\u7684\u589e\u91cf\u5f0fPID\uff0c\u90fd\u53ef\u4ee5\u5355\u72ec\u5bf9\u8f93\u51fa\u503c\u589e\u91cf\u8fdb\u884c\u9650\u5e45\uff0c\u9632\u6b62\u6267\u884c\u673a\u6784\u5927\u5e45\u5ea6\u53d8\u5316\u3002<\/p>\n<h2>PID\u7a0b\u5e8f\u5b9e\u73b0<\/h2>\n<h3>\u8c03\u63a7\u5468\u671f\u5b9e\u73b0<\/h3>\n<p>\u7b2c\u4e00\u6b65\uff1a \u786e\u5b9a\u4e00\u4e2a\u8c03\u63a7\u5468\u671fT\uff0c\u6bcf\u9694\u65f6\u95f4T\uff0c\u7a0b\u5e8f\u6267\u884c\u4e00\u6b21PID\u8c03\u63a7\u3002<\/p>\n<p>\u81f3\u4e8e\u8c03\u63a7\u5468\u671f\u8bbe\u7f6e\u591a\u5927\u6bd4\u8f83\u597d\u5462\uff1f\u8fd9\u4e5f\u662f\u6709\u8bf4\u6cd5\u7684\uff0c\u8c03\u63a7\u5468\u671f\u4e00\u822c\u53d6\u51b3\u4e8e\u88ab\u63a7\u5bf9\u8c61\u53d8\u5316\u7684\u5feb\u6162\uff0c\u6bd4\u5982\u5012\u7acb\u6446\u3001\u5e73\u8861\u8f66\u3001\u56db\u8f74\u98de\u884c\u5668\u7b49\uff0c\u8fd9\u4e9b\u5bf9\u8c61\u53d8\u5316\u7684\u5f88\u5feb\uff0c\u4f60\u603b\u4e0d\u80fd1s\u624d\u8c03\u63a7\u4e00\u6b21\u5427\uff1f\u8981\u662f1s\u4e00\u6b21\uff0c\u8fd9\u4e9b\u4e1c\u897f\u65e9\u5c31\u88ab\u6454\u574f\u4e86\uff0c\u6240\u4ee5\u8fd9\u4e9b\u4e1c\u897f\u7684\u8c03\u63a7\u4e00\u5b9a\u8981\u5feb\uff0c\u4e00\u822c20ms\u300110ms\u30015ms\uff0c\u751a\u81f31ms\u5c31\u8981\u8fdb\u884c\u4e00\u6b21\u8c03\u63a7\u3002\u8c03\u63a7\u7684\u8d8a\u5feb\uff0c\u4e00\u822c\u6765\u8bf4\u5bf9\u8c61\u5c31\u4f1a\u8d8a\u7a33\u5b9a\uff0c\u4f46\u662f\uff0c\u8c03\u63a7\u5468\u671f\u4e5f\u4e0d\u80fd\u65e0\u9650\u5236\u7684\u5feb\uff0c\u56e0\u4e3a\u4f1a\u53d7\u5230\u786c\u4ef6\u4f20\u611f\u5668\u7b49\u8bbe\u5907\u5206\u8fa8\u7387\u9650\u5236\uff0c\u6bd4\u5982\u59ff\u6001\u4f20\u611f\u5668\uff0c\u6bcf\u96945ms\u624d\u80fd\u66f4\u65b0\u4e00\u4e0b\u6570\u636e\uff0c\u90a3\u4e48\u4f60PID\u5c31\u7b971ms\u8c03\u63a7\u4e00\u6b21\uff0c\u4e5f\u6ca1\u6709\u610f\u4e49\u3002<\/p>\n<p>\u5bf9\u4e8e\u7535\u673a\u63a7\u901f\u6765\u8bf4\uff0c\u4e00\u822c\u4e0d\u9700\u8981\u7279\u522b\u5feb\uff0c\u4e00\u822c20~100ms\u8c03\u63a7\u4e00\u6b21\u5c31\u53ef\u4ee5\u3002\u7535\u673a\u63a7\u901f\u4e5f\u4e0d\u80fd\u8c03\u8282\u8fc7\u5feb\uff0c\u56e0\u4e3a\u4f1a\u53d7\u7f16\u7801\u5668\u5206\u8fa8\u7387\u7684\u9650\u5236\uff0c\u8c03\u63a7\u5468\u671f\u8d8a\u5feb\uff0c\u7f16\u7801\u5668\u6d4b\u901f\u7684\u5206\u8fa8\u7387\u5c31\u8d8a\u4f4e\uff0c\u8fc7\u5feb\u7684\u8c03\u63a7\u5468\u671f\uff0c\u7f16\u7801\u5668\u6d4b\u901f\u6839\u672c\u4e0d\u51c6\u786e\uff0c\u8fd9\u65f6\u518d\u5feb\u7684\u8c03\u63a7\u4e5f\u6ca1\u6709\u610f\u4e49\u3002<\/p>\n<p>\u5bf9\u4e8e\u5f88\u5927\u7684\u88ab\u63a7\u5bf9\u8c61\uff0c\u6bd4\u5982\u7ed9\u9505\u7089\u52a0\u70ed\uff0c\u8fd9\u4e9b\u5bf9\u8c61\u7684\u53d8\u5316\u975e\u5e38\u7f13\u6162\uff0cPID\u8c03\u63a7\u5468\u671f\u4e5f\u5f97\u6162\u4e0b\u6765\uff0c\u8c03\u5feb\u4e86\u6ca1\u610f\u4e49\uff0c\u6bd4\u5982\u51e0\u767e\u6beb\u79d2\u3001\u51e0\u79d2\u751a\u81f3\u51e0\u5341\u79d2\u8c03\u63a7\u4e00\u6b21\u90fd\u6ca1\u95ee\u9898\u3002<\/p>\n<p>\u90a3\u4e48\u5728\u7a0b\u5e8f\u4e2d\u6211\u4eec\u5982\u4f55\u5b9e\u73b0\u6bcf\u9694T\u65f6\u95f4\u8fdb\u884c\u4e00\u6b21\u8c03\u63a7\u5462\uff1f<\/p>\n<p>\u7b2c\u4e00\u79cd\uff08\u6700\u7b80\u5355\uff09\uff1a\u4f7f\u7528delay\u5ef6\u65f6\u5b9e\u73b0\u8c03\u63a7\u5468\u671fT\uff0c\u4f7f\u7528\u7b80\u5355\u4f46\u662f\u5f0a\u7aef\u592a\u591a\uff0c\u6bd4\u5982Delay\u5ef6\u65f6\u5e76\u4e0d\u7cbe\u786e\uff0cDelay\u5ef6\u65f6\u65f6\u95f4\u52a0\u4e0a\u4e0a\u9762\u4ee3\u7801\u7684\u6267\u884c\u65f6\u95f4\uff0c\u624d\u662f\u6574\u4e2awhile\u5faa\u73af\u6267\u884c\u7684\u5468\u671f\uff0c\u8fd9\u5c31\u4f1a\u5bfc\u81f4\u8c03\u63a7\u5468\u671f\u4f1a\u6bd4\u8bbe\u5b9a\u7684T\uff0c\u957f\u90a3\u4e48\u4e00\u70b9\u70b9\uff0c\u5e76\u4e14delay\u662f\u4e00\u4e2a\u963b\u585e\u6001\u7684\u51fd\u6570\uff0c\u4f1a\u963b\u6b62\u5176\u4ed6\u7a0b\u5e8f\u7684\u8fd0\u884c\u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>int main()\r\n{\r\n    while (1)\r\n    {\r\n        \/* \u5728\u8fd9\u91cc\u5b9e\u73b0PID\u8c03\u8282 *\/\r\n        \r\n        delay_ms(20);\r\n    }\r\n    \r\n}<\/code><\/pre>\n<p>\u7b2c\u4e8c\u79cd\uff1a\u4f7f\u7528\u5b9a\u65f6\u5668\u8fdb\u884c\u5b9a\u65f6\u4e2d\u65ad\uff0c\u5176\u5b9e\u8fd9\u79cd\u65b9\u6cd5\u4e5f\u5f88\u7b80\u5355\uff0c\u5e76\u4e14\u903b\u8f91\u4e0a\u9762\u66f4\u6e05\u6670\u3002\u4f46\u662f\u4e5f\u6709\u4e00\u5b9a\u5f0a\u7aef\uff0c\u6bd4\u5982\u5728\u4e2d\u65ad\u91cc\u5982\u679c\u6709\u64cd\u4f5c\u786c\u4ef6\u7684\u51fd\u6570\uff0c\u4e0d\u80fd\u5373\u5728\u4e2d\u65ad\u4e2d\u8c03\u7528\uff0c\u53c8\u5728\u4e3b\u7a0b\u5e8f\u4e2d\u8c03\u7528\uff0c\u56e0\u4e3a\u4e2d\u65ad\u51fd\u6570\u548c\u4e3b\u7a0b\u5e8f\uff0c\u76f8\u5f53\u4e8e\u591a\u7ebf\u7a0b\uff0c\u591a\u7ebf\u7a0b\u64cd\u4f5c\u540c\u4e00\u4e2a\u786c\u4ef6\uff0c\u4f1a\u5bfc\u81f4\u8d44\u6e90\u8bbf\u95ee\u51b2\u7a81\u3002<\/p>\n<p>&nbsp;<\/p>\n<pre class=\"corepress-code-pre\"><code>int main()\r\n{\r\n    Timer_Init();\r\n    while (1)\r\n    {\r\n    }\r\n}\r\n\r\nvoid TIM2_IRQHandler(void)\r\n{\r\n    if(TIM_GetITStatus(TIM2,TIM_IT_Updata) == SET)\r\n    {\r\n        \/\/\u5728\u8fd9\u91cc\u6267\u884cPID\u8c03\u63a7\r\n\r\n        TIM_ClearITPendingBit(TIM2,TIM_IT_Updata);\r\n    }\r\n}<\/code><\/pre>\n<p>\u7b2c\u4e09\u79cd\uff1a\u5982\u679c\u6211\u4eec\u4e3a\u4e86\u907f\u514d\u5728\u4e2d\u65ad\u5373\u5728\u4e2d\u65ad\u4e2d\u8c03\u7528\u786c\u4ef6\uff0c\u53c8\u5728\u4e3b\u7a0b\u5e8f\u4e2d\u8c03\u7528\u786c\u4ef6\uff0c\u5c31\u8981\u4f7f\u7528\u4e00\u4e2a\u6807\u5fd7\u4f4d\uff0c\u90fd\u5728\u4e3b\u7a0b\u5e8f\u4e2d\u8fdb\u884c\u3002 \u5f53\u7136\u4e5f\u6709\u5f0a\u7aef\uff0c\u6bd4\u5982\u4e3b\u7a0b\u5e8f\u7684\u4ee3\u7801\u8fc7\u591a\uff0c\u6216\u8005\u4e3b\u7a0b\u5e8f\u963b\u585e\u4e86\uff0c\u90a3\u4e48PID\u8c03\u63a7\u4ee3\u7801\u53ef\u80fd\u65e0\u6cd5\u53ca\u65f6\u6267\u884c\uff0c\u8fd9\u4f1a\u5bfc\u81f4\u8c03\u63a7\u5468\u671fT\u4e0d\u51c6\u786e\uff0c\u6240\u4ee5\u4f7f\u7528\u8fd9\u79cd\u65b9\u6cd5\uff0c\u4e00\u5b9a\u8981\u4fdd\u8bc1\u4e3b\u7a0b\u5e8f\u4e0d\u80fd\u963b\u585e\u3002<\/p>\n<p>&nbsp;<\/p>\n<pre class=\"corepress-code-pre\"><code>uint8_t Flag;\r\nint main()\r\n{\r\n    Timer_Init();\r\n    while (1)\r\n    {\r\n        if(Flag == 1)\r\n        {\r\n            Flag = 0;\r\n            \/\/\u6267\u884cPID\u8c03\u63a7\r\n        }\r\n    }\r\n}\r\n\r\nvoid TIM2_IRQHandler(void)\r\n{\r\n    if(TIM_GetITStatus(TIM2,TIM_IT_Updata) == SET)\r\n    {\r\n        Flag = 1;\r\n\r\n        TIM_ClearITPendingBit(TIM2,TIM_IT_Updata);\r\n    }\r\n}<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>\u4f4d\u7f6e\u5f0fPID\u5b9e\u73b0<\/h3>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1612\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-13-100652.png\" alt=\"\" width=\"1164\" height=\"54\" \/><\/p>\n<p>\u6211\u4eec\u5148\u5b9a\u4e49\u4e00\u4e9b\u53d8\u91cf\uff0c\u56e0\u4e3aPID\u8c03\u63a7\u4f1a\u51fa\u5148\u4e00\u4e9b\u8d1f\u6570\u3001\u5c0f\u6570\uff0c\u6240\u4ee5\u53d8\u91cf\u7c7b\u578b\u6211\u4eec\u90fd\u4f7f\u7528float\u6d6e\u70b9\u7c7b\u578b\u3002\u5176\u4e2dTarget\u3001Actual\u3001Out \u662fPID\u4e0e\u5916\u754c\u4ea4\u4e92\u76843\u4e2a\u53d8\u91cf\u3002\u8fd8\u9700\u8981\u5b9a\u4e49PID\u4e2d\u7684\u7cfb\u6570\u9879\uff0c\u8fd8\u6709\u8981\u5b9a\u4e49\u8bef\u5dee\u503c\uff0c\u5373\u672c\u6b21\u8bef\u5dee\u3001\u4e0a\u6b21\u8bef\u5dee\u548c\u8bef\u5dee\u79ef\u5206\u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>float Target,Actual,Out;\/\/\u76ee\u6807\u503c\uff0c\u5b9e\u9645\u503c\uff0c\u8f93\u51fa\u503c\r\nfloat Kp,Ki,Kd;\/\/PID\u6743\u91cd\r\nfloat Error0,Error1,ErrorInt;\/\/\u672c\u6b21\u8bef\u5dee\uff0c\u4e0a\u6b21\u8bef\u5dee\uff0c\u8bef\u5dee\u79ef\u5206\r\nint main()\r\n{\r\n    Timer_Init();\r\n    while (1)\r\n    {\r\n        Target = \u8bbe\u5b9a\u76ee\u6807\u503c;\r\n    }\r\n}\r\n\r\nvoid TIM2_IRQHandler(void)\r\n{\r\n    if(TIM_GetITStatus(TIM2,TIM_IT_Updata) == SET)\r\n    {\r\n        \/\/\u8bfb\u53d6\u4f20\u611f\u5668\u5b9e\u9645\u503c\r\n        Actual = \u8bfb\u53d6\u5b9e\u9645\u503c;\r\n        \r\n        \/\/\u66f4\u65b0\u8bef\u5dee\r\n        Error1 = Error0;\r\n        Error0 = Target - Actual;\r\n        ErrorInt += Error0;\r\n\r\n        \/\/\u66f4\u65b0\u8f93\u51fa\r\n        Out = Kp*Error0 + Ki*ErrorInt + Kd(Error0-Error1);\r\n\r\n        \/\/\u8f93\u51fa\u9650\u5e45\r\n        if(Out &gt; \u6700\u5927\u503c)\r\n        {\r\n            OUT = \u6700\u5927\u503c;\r\n        }\r\n        if(Out &lt; \u6700\u5c0f\u503c)\r\n        {\r\n            Out = \u6700\u5c0f\u503c\r\n        }\r\n\r\n        \/\/\u63a7\u5236\u786c\u4ef6\u51fd\u6570\r\n        \u63a7\u5236\u786c\u4ef6\u51fd\u6570(Out);\r\n\r\n        TIM_ClearITPendingBit(TIM2,TIM_IT_Updata);\r\n    }\r\n}<\/code><\/pre>\n<p>\u8f93\u51fa\u9650\u5e45\u662f\u4ec0\u4e48\u4f5c\u7528\u5462\uff1f<\/p>\n<p>\u8f93\u51fa\u9650\u5e45\u662f\u975e\u5e38\u5fc5\u8981\u7684\uff0c\u5982\u679c\u4f60\u7535\u673a\u8f93\u51fa\u7684\u51fd\u6570\uff0c\u53ea\u80fd\u63a5\u6536-100~100\u7684\u53c2\u6570\uff0cPID\u8ba1\u7b97\u51fa\u4e00\u4e2a200\uff0c\u80af\u5b9a\u4e0d\u80fd\u76f4\u63a5\u628a200\u8f93\u51fa\u7ed9\u7535\u673a\u3002<\/p>\n<h3>\u589e\u91cf\u5f0fPID\u5b9e\u73b0<\/h3>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1613\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2025\/03\/\u5c4f\u5e55\u622a\u56fe-2025-03-13-103239.png\" alt=\"\" width=\"1619\" height=\"69\" \/><\/p>\n<p>\u5927\u5bb6\u8981\u6ce8\u610f\uff0c\u6211\u4eec\u8fd9\u4e2a\u589e\u91cf\u5f0fPID\uff0c\u662f\u5728\u63a7\u5236\u5668\u5185\u79ef\u5206\uff0c\u8f93\u51fa\u7684\u8fd8\u662f\u5168\u91cf\u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>float Target,Actual,Out;\/\/\u76ee\u6807\u503c\uff0c\u5b9e\u9645\u503c\uff0c\u8f93\u51fa\u503c\r\nfloat Kp,Ki,Kd;\/\/PID\u6743\u91cd\r\nfloat Error0,Error1,Error2;\/\/\u672c\u6b21\u8bef\u5dee\uff0c\u4e0a\u6b21\u8bef\u5dee\uff0c\u4e0a\u4e0a\u6b21\u8bef\u5dee\r\nint main()\r\n{\r\n    Timer_Init();\r\n    while (1)\r\n    {\r\n        Target = \u8bbe\u5b9a\u76ee\u6807\u503c;\r\n    }\r\n}\r\n\r\nvoid TIM2_IRQHandler(void)\r\n{\r\n    if(TIM_GetITStatus(TIM2,TIM_IT_Updata) == SET)\r\n    {\r\n        \/\/\u8bfb\u53d6\u4f20\u611f\u5668\u5b9e\u9645\u503c\r\n        Actual = \u8bfb\u53d6\u5b9e\u9645\u503c;\r\n\r\n        \/\/\u66f4\u65b0\u8bef\u5dee\r\n        Error2 = Error1;\r\n        Error1 = Error0;\r\n        Error0 = Target - Actual;\r\n\r\n        \/\/\u66f4\u65b0\u8f93\u51fa\r\n        Out += Kp*(Error0-Error1) + Ki*Error0 + Kd*(Error0-2*Error1+Error2);\r\n\r\n        \/\/\u8f93\u51fa\u9650\u5e45\r\n        if(Out &gt; \u6700\u5927\u503c)\r\n        {\r\n            OUT = \u6700\u5927\u503c;\r\n        }\r\n        if(Out &lt; \u6700\u5c0f\u503c)\r\n        {\r\n            Out = \u6700\u5c0f\u503c\r\n        }\r\n\r\n        \/\/\u63a7\u5236\u786c\u4ef6\u51fd\u6570\r\n        \u63a7\u5236\u786c\u4ef6\u51fd\u6570(Out);\r\n\r\n        TIM_ClearITPendingBit(TIM2,TIM_IT_Updata);\r\n    }\r\n}<\/code><\/pre>\n<p>\u867d\u7136\u6211\u4eec\u8ba1\u7b97\u7684\u662f\u25b2OUT\uff0c\u4f46\u662f\u6211\u4eec\u4f7f\u7528\u7684OUT += \u25b2OUT\uff0c\u6240\u4ee5\u662f\u5b9e\u73b0\u4e86\u63a7\u5236\u5668\u5185\u79ef\u5206\uff0c\u6574\u4f53\u529f\u80fd\u548c\u4f4d\u7f6e\u5f0fPID\u76f8\u540c\u3002<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u79bb\u6563PID\u516c\u5f0f \u8fde\u7eed\u5f62\u5f0f\u7684PID\uff0c\u9700\u8981\u7528\u6a21\u62df\u7535\u8def\u6765\u5b9e\u73b0\uff0c\u6a21\u62df\u7535\u8def\u65f6\u65f6\u523b\u523b\u90fd\u5728\u5de5\u4f5c\u7740\uff0c\u5bf9\u4e8e\u5355\u7247\u673a\u800c\u8a00\uff0c\u6211\u4eec\u9700\u8981\u7528 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31],"tags":[],"class_list":["post-1607","post","type-post","status-publish","format-standard","hentry","category-pid"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1607","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=1607"}],"version-history":[{"count":1,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1607\/revisions"}],"predecessor-version":[{"id":1614,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1607\/revisions\/1614"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=1607"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=1607"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=1607"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}