Znn3bq.jpeg
²é¿´: 366  |  »Ø¸´: 1
µ±Ç°Ö÷ÌâÒѾ­´æµµ¡£
¡¾Óн±½»Á÷¡¿»ý¼«»Ø¸´±¾Ìû×Ó£¬²ÎÓë½»Á÷£¬¾ÍÓлú»á·ÖµÃ×÷Õß 20042030 µÄ 4 ¸ö½ð±Ò

20042030

Òø³æ (³õÈëÎÄ̳)

[½»Á÷] ¡¾ÇóÖú¡¿Ä£ºý×ÔÊÊÓ¦PIDÎÊÌâ~~~³æ³æÃÇ£¬help me£¡

ÎÊÌâÒ»£º
      Ä£ºýPIDÖУ¬¿ØÖÆÆ÷Êä³öÁ¿ÎªÐÞÕýÖµ¡÷Kp,¡÷Ki,¡÷Kd¡£ÇëÎÊһϣº3¸öÄ£ºý¿ØÖƱíÊǹØÓÚKp£¬Ki£¬Kd »¹ÊǹØÓÚ¡÷Kp,¡÷Ki,¡÷Kd½¨µÄ£¨¼´IF e is NB AND ec is NB THEN ¡÷Kp is PB »¹ÊÇ IF e is NB AND ec is NB THEN Kp is PB£¿£©
ÎÊÌâ¶þ£º
       Ä£ºýPIDÖУ¬¿ØÖÆÆ÷Êä³öÁ¿ÎªÐÞÕýÖµ¡÷Kp,¡÷Ki,¡÷Kd¡£ÇëÎÊһϣºÂÛÓòÊÇÈ¡¡÷Kp,¡÷Ki,¡÷KdµÄ·¶Î§»¹ÊÇKp£¬Ki£¬Kd µÄ·¶Î§£¿

ÎҺܻìÏý£¡help me£¡
»Ø¸´´ËÂ¥

» ²ÂÄãϲ»¶

ÌìµÀ³êÇÚ£¡
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

swc0339

¾èÖú¹ó±ö (СÓÐÃûÆø)

ÌìÌìÏòÉÏ

¡ï ¡ï
µãµã·ç(½ð±Ò+2,VIP+0):¸ÐлÄúµÄÈÈÐİïÖú£¬ÑûÇëÐֵܼÓÈëÀí¹¤Ñ§¿Æ°æÖ÷£¬Ç뿼Âǹþ~~ 10-5 13:06
PIDÄ£ºý¿ØÖÆ»¹ÊÇÔÚ´óѧʱºòѧ×Ô¶¯»¯ÀíÂÛʱºòѧϰµÄ£¬Ôç¿ìÍüÈ´ÁË¡£¡£¡£

1£ºÄ£ºý¿ØÖƱíÊǹØÓÚ¡÷Kp,¡÷Ki,¡÷KdµÄ°É
2£º ÂÛÓòÊÇÈ¡Kp£¬Ki£¬Kd µÄ·¶Î§

²»ÖªµÀ¶Ô²»¶ÔºÇºÇ£¬Õâ¸öÓ¦¸ÃËã»ù´¡ÎÊÌ⣬ÄãÎÊÎÊÉí±ßµÄÀÏʦ»òÕßͬѧ¾Í¿ÉÒÔ
¶ÍѹÇà´º º¸½ÓÀíÏë ´¦ÀíδÀ´ ÖýÔì»Ô»Í
2Â¥2009-10-03 11:38:22
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû
Ïà¹Ø°æ¿éÌø×ª ÎÒÒª¶©ÔÄÂ¥Ö÷ 20042030 µÄÖ÷Ìâ¸üÐÂ
×î¾ßÈËÆøÈÈÌûÍÆ¼ö [²é¿´È«²¿] ×÷Õß »Ø/¿´ ×îºó·¢±í
[¿¼ÑÐ] Ò»Ö¾Ô¸»ªÖÐũҵ071010£¬320Çóµ÷¼Á +17 À§À§À§À§À¤À¤ 2026-04-14 19/950 2026-04-17 20:08 by ¹ØÒ»ÕµµÆcd
[¿¼ÑÐ] 295·ÖÇóµ÷¼Á +5 ?ÒªÉϰ¶? 2026-04-17 5/250 2026-04-17 16:51 by fenglj492
[¿¼ÑÐ] 297£¬¹¤¿Æµ÷¼Á? +4 ºÓÄÏũҵ´óѧ-ÄÜ 2026-04-14 4/200 2026-04-16 22:52 by wulijun2012
[¿¼ÑÐ] 300Çóµ÷¼Á +11 ³Èa777 2026-04-15 11/550 2026-04-16 22:43 by cfdbai
[¿¼²©] É격×Ô¼ö +3 LinxiaÁÖÏÄ 2026-04-13 3/150 2026-04-16 12:55 by Ä«ºÉ֮¶
[»ù½ðÉêÇë] RY£ºÖйú²ú³öµÄ¿ÆÑ§À¬»øÂÛÎÄ£¬¾ø¶ÔÊýÁ¿ºÍ±ÈÀý¶¼ÊÀ½çµÚÒ» +7 zju2000 2026-04-14 18/900 2026-04-16 11:36 by »¶ÀÖËÌÒ¶Ýè
[¿¼ÑÐ] 289 ·Ö105500ҩѧר˶Çóµ÷¼Á(ÕÒBÇøÑ§Ð£) +4 °×ÔÆ123456789 2026-04-13 4/200 2026-04-16 00:18 by ·ÛÇßÈô³¾
[¿¼ÑÐ] Ò»Ö¾Ô¸AÇø211£¬22408 321Çóµ÷¼Á +6 ËæÐÄËùÓû¡î 2026-04-15 7/350 2026-04-15 21:45 by lbsjt
[¿¼ÑÐ] 085404 22408 309·ÖÇóµ÷¼Á +9 lzmk 2026-04-14 10/500 2026-04-15 20:02 by ѧԱJpLReM
[¿¼ÑÐ] 085801µçÆø×¨Ë¶272Çóµ÷¼Á +19 µçÆøÀî 2026-04-13 21/1050 2026-04-15 13:37 by ºÚ¿Æ¼¼¿óÒµ
[¿¼ÑÐ] 310Çóµ÷¼Á +16 666ÕæºÃ 2026-04-11 18/900 2026-04-15 13:28 by ºÚ¿Æ¼¼¿óÒµ
[¿¼ÑÐ] ¸÷λÀÏʦºÃ£¬Çóµ÷¼Á£¬±¾¿Æ211£¬Ò»Ö¾Ô¸Ìì½ò´óѧÉúÎïÓëҽҩѧ˶£¬²îÁ½Ãû¼ȡ¡£ +11 ·ÁùÁùjjj 2026-04-13 11/550 2026-04-14 16:01 by zs92450
[¿¼ÑÐ] µ÷¼Á +12 ÔÂ@163.com 2026-04-11 12/600 2026-04-14 15:37 by zs92450
[½Ìʦ֮¼Ò] ת³¤Æ¸ÁË +7 ¼òµ¥»¯xn 2026-04-13 7/350 2026-04-14 14:50 by xindong
[¿¼ÑÐ] ¿¼ÑÐÇóµ÷¼Á +6 ban°àСÆß 2026-04-11 6/300 2026-04-14 14:06 by ¶ßÀ²AÃÎÖ»ÊǸöÃÎ
[¿¼ÑÐ] Çóµ÷¼Á +3 ÎÒ°®¸ßÊý¸ßÊý°®Î 2026-04-12 3/150 2026-04-14 01:00 by Íõ¬Bè±
[¿¼ÑÐ] ²ÄÁÏ¿¼Ñе÷¼Á +29 ÔÆÄ¾´ï´ï 2026-04-11 31/1550 2026-04-13 13:32 by lyh³ÀÏʦ
[¿¼ÑÐ] ¡£ +10 Àî¶àÃ×lee. 2026-04-12 11/550 2026-04-12 22:58 by yuyin1233
[¿¼ÑÐ] 344 ²ÄÁÏרҵ Çóµ÷¼Á211 ÎÞµØÓòÒªÇó +8 hualkop 2026-04-11 8/400 2026-04-12 22:24 by fqwang
[¿¼ÑÐ] Çóµ÷¼Á£¬Ò»Ö¾Ô¸²ÄÁÏ¿ÆÑ§Ó빤³Ì985£¬365·Ö£¬ +8 ²Ä»¯Àî¿É 2026-04-11 10/500 2026-04-12 08:42 by 852137818
ÐÅÏ¢Ìáʾ
ÇëÌî´¦ÀíÒâ¼û