pid模拟调参(无人机)
Webpack App (rossning92.github.io)
多环(平衡小车)
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| int Kp,Ki,Kd; int Error; int Error_old; int Error_difference; long int Error_sum;
void I_amplitude_limiting(int number) { if(Error_sum>number) { Error_sum=number; } }
int PID_control(float measure,float calcu) { Error = measure - calcu;
Error_sum += Error; I_amplitude_limiting(2000);
Error_difference = Error- Error_old; Error_old = Error;
return(Kp*Error+Kd*Error_difference+Ki*Error_sum); }
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