IC693CHS397RR 模块底板
由于系统长时间无法达到目标值,累计偏差(积分)会变得越来越大,逐渐达到深度饱和的状态,此时我们再设置一个合理范围的目标速度(例如 200RPM),系统就没有办法在短时间内响应了。
为了避免位置式 PID 中可能出现的积分饱和问题,可以考虑下面解决方法:
① 优化 PID 曲线,系统越快达到目标值,累计的偏差就越小;
② 限制目标值调节范围,规避可以预见的偏差;
③ 进行积分限幅,在调整好 PID 系数之后,根据实际系统来选择限幅范围。
PID 算法代码实现
控制量相关的结构体
我们知道PID 的离散化公式后,实现 PID 算法的代码是非常简单。
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