python实现PID算法及测试的例子 - CSDN文库

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python实现实现PID算法及测试的例子算法及测试的例子

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PID算法实现算法实现

import time

class PID:

def __init__(self, P=0.2, I=0.0, D=0.0):

self.Kp = P

self.Ki = I

self.Kd = D

self.sample_time = 0.00

self.current_time = time.time()

self.last_time = self.current_time

self.clear()

def clear(self):

self.SetPoint = 0.0

self.PTerm = 0.0

self.ITerm = 0.0

self.DTerm = 0.0

self.last_error = 0.0

self.int_error = 0.0

self.windup_guard = 20.0

self.output = 0.0

def update(self, feedback_value):

error = self.SetPoint - feedback_value

self.current_time = time.time()

delta_time = self.current_time - self.last_time

delta_error = error - self.last_error

if (delta_time >= self.sample_time):

self.PTerm = self.Kp * error#比例

self.ITerm += error * delta_time#积分

if (self.ITerm < -self.windup_guard):

self.ITerm = -self.windup_guard

elif (self.ITerm > self.windup_guard):

self.ITerm = self.windup_guard

self.DTerm = 0.0

if delta_time > 0:

self.DTerm = delta_error / delta_time

self.last_time = self.current_time

self.last_error = error

self.output = self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm)

def setKp(self, proportional_gain):

self.Kp = proportional_gain

def setKi(self, integral_gain):

self.Ki = integral_gain

def setKd(self, derivative_gain):

self.Kd = derivative_gain

def setWindup(self, windup):

self.windup_guard = windup

def setSampleTime(self, sample_time):

self.sample_time = sample_time

测试测试PID算法算法

import PID

import time

import matplotlib

matplotlib.use("TkAgg")

import matplotlib.pyplot as plt

import numpy as np

from scipy.interpolate import spline

#这个程序的实质就是在前九秒保持零输出，在后面的操作中在传递函数为某某的系统中输出1

def test_pid(P = 0.2, I = 0.0, D= 0.0, L=100):

"""Self-test PID class

.. note::

...

for i in range(1, END):

pid.update(feedback)

output = pid.output

if pid.SetPoint > 0:

feedback += (output - (1/i))

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