micropython pid
时间: 2023-12-14 18:04:34 浏览: 42
Micropython PID是一种用于控制系统的算法,它可以根据系统的反馈信号来调整输出信号,以达到期望的控制效果。下面是Micropython PID的使用方法和说明:
一、代码使用方法
1.1 Python3 版本
```python
from pid import PID
pid = PID(1.0, 0.4, 1.2)
pid.SetPoint=0.0
while True:
pid.update(measurement_value)
output = pid.output
```
1.2 MicroPython - OpenMV版本
```python
from pyb import millis
class PID:
def __init__(self, Kp, Ki, Kd):
self.Kp = Kp
self.Ki = Ki
self.Kd = Kd
self.SetPoint = 0.0
self.PTerm = 0.0
self.ITerm = 0.0
self.DTerm = 0.0
self.last_error = 0.0
self.last_time = millis()
def update(self, feedback_value):
error = self.SetPoint - feedback_value
delta_time = millis() - self.last_time
delta_error = error - self.last_error
self.PTerm = self.Kp * error
self.ITerm += error * delta_time
if delta_time > 0:
self.DTerm = delta_error / delta_time
else:
self.DTerm = 0.0
self.last_time = millis()
self.last_error = error
return self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm)
```
1.3 MicroPython - K210版本
```python
from machine import Timer
class PID:
def __init__(self, Kp, Ki, Kd):
self.Kp = Kp
self.Ki = Ki
self.Kd = Kd
self.SetPoint = 0.0
self.PTerm = 0.0
self.ITerm = 0.0
self.DTerm = 0.0
self.last_error = 0.0
self.last_time = Timer.current_time()
def update(self, feedback_value):
error = self.SetPoint - feedback_value
delta_time = Timer.current_time() - self.last_time
delta_error = error - self.last_error
self.PTerm = self.Kp * error
self.ITerm += error * delta_time
if delta_time > 0:
self.DTerm = delta_error / delta_time
else:
self.DTerm = 0.0
self.last_time = Timer.current_time()
self.last_error = error
return self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm)
二、说明
Micropython PID算法的参数包括比例系数Kp、积分系数Ki和微分系数Kd,这些参数需要根据具体的控制系统进行调整。PID算法的核心是根据反馈信号计算误差,并根据误差调整输出信号,以达到期望的控制效果。
三、参考资料
1. Micropython PID代码:https://github.com/micropython/micropython-lib/tree/master/pid
2. PID控制器 - 维基百科:https://zh.wikipedia.org/wiki/PID%E6%8E%A7%E5%88%B6%E5%99%A8
--相关问题--: