KL2602模块

KL2602模块

有几个评估系统性能的标准，包括死区时间、上升时间、过冲、稳定时间和稳态误差。虽然在调整 PID 增益之前应根据这些标准定义性能预期，但此类预期取决于应用程序的要求。因此，就本文而言，足以说明各种标准何时受到不同增益调整的影响。

Kp , K i , _和Kd增益将单独调整，并按此顺序，给定一个选定的设置点。更具体地说，代码将在每次执行时将其中一个增益设置为不同的值，并将 r 的值设置为 700。

至于这个 700 值的相关性，读者应该记得Current Position是一个数字值，表示从执行器的电位器获得的电压，而Current Position现在在我们的代码中由变量 y 表示。设置位置-表示我们代码中的变量 r - 是相同范围内的数字值，如前所述，如果 ADC 具有 10 位分辨率，则该值介于 0 和 1023 之间。因此，700 的设定点值是合理的，尽管是任意的。

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