pid控制算法python代码

下是一个使用位置式PID控制算法的Python代码示例：

class PID:
    def __init__(self, P=0.2, I=0.0, D=0.0):
        self.kp = P
        self.ki = I
        self.kd = D
        self.uPrevious = 0
        self.uCurrent = 0
        self.setValue = 0
        self.lastErr = 0
        self.preLastErr = 0
        self.errSum = 0
        self.errSumLimit = 10

    def pidPosition(self, curValue):
        err = self.setValue - curValue
        dErr = err - self.lastErr
        self.preLastErr = self.lastErr
        self.lastErr = err
        self.errSum += err
        outPID = self.kp * err + self.ki * self.errSum + self.kd * dErr
        return outPID

这个代码实现了一个简单的位置式PID控制器。在初始化时，可以指定PID控制器的比例系数P、积分系数I和微分系数D。然后，通过调用`pidPosition`方法，传入当前值，即可计算出相应的PID输出值。该代码可供参考，可根据实际需求进行修改和扩展。<em>1</em><em>2</em><em>3</em>
#### 引用[.reference_title]
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