Znn3bq.jpeg
²é¿´: 1440  |  »Ø¸´: 6

20042030

Òø³æ (³õÈëÎÄ̳)

[½»Á÷] ¡¾ÇóÖú¡¿Ä£ºý×ÔÊÊÓ¦PIDÎÊÌâ~~³æ³æÃÇ£¬help me ÒÑÓÐ3È˲ÎÓë

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»¶

» ±¾Ö÷ÌâÏà¹Ø¼ÛÖµÌùÍÆ¼ö£¬¶ÔÄúͬÑùÓаïÖú:

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

suton

½ð³æ (ÕýʽдÊÖ)

2Â¥2009-10-03 10:15:48
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

20042030

Òø³æ (³õÈëÎÄ̳)

лÁË

3Â¥2009-10-03 10:59:58
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

huoban_007

Òø³æ (³õÈëÎÄ̳)

½â´ð

¡ï ¡ï ¡ï
Сľ³æ(½ð±Ò+0.5):¸ø¸öºì°ü£¬Ð»Ð»»ØÌû½»Á÷
haixing2008(½ð±Ò+2,VIP+0):¶àл½â´ð£¡ 12-15 10:15
ÎÊÌâ1:ÊǹØÓÚ¡÷Kp,¡÷Ki,¡÷Kd½¨µÄ,ÒòΪµ÷ÕûÁ¿¾ÍÊÇÕ⼸¸ö¡£
ÎÊÌâ2£ºÂÛÓòÊÇÈ¡¡÷Kp,¡÷Ki,¡÷KdµÄ·¶Î§¡£
4Â¥2009-11-27 17:16:51
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

slidingfuzzy

¡ï
Сľ³æ(½ð±Ò+0.5):¸ø¸öºì°ü£¬Ð»Ð»»ØÌû½»Á÷
²»ÄÜ˵ÊǸù¾ÝÄÄÒ»¸öÈ·¶¨µÄ£¬Ä£ºý¹æÔòµÄÊä³öÓ¦¸ÃÊÇ¡÷Kp,¡÷Ki,¡÷Kd£¬ËùÒÔÄ£ºý¹æÔòµÄÐÎʽӦ¸ÃÊÇIF e is NB AND ec is NB THEN ¡÷Kp is PB¡£ËùÒÔÄ£ºý¹æÔòÊä³öµÄÂÛÓòÊÇÈ¡¡÷Kp,¡÷Ki,¡÷KdµÄ·¶Î§¡£
5Â¥2010-07-21 10:30:27
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

zc1401

ľ³æ (ÕýʽдÊÖ)

°ï¶¥£¬Õâ¸ö±È½Ï²»Çå³þ
6Â¥2012-01-19 10:41:46
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

zhenhot

Í­³æ (³õÈëÎÄ̳)

Àí½âͬ4Â¥
7Â¥2012-01-29 11:18:45
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] 272·Ö²ÄÁÏ×ÓÇóµ÷¼Á +40 Loy0361 2026-04-10 52/2600 2026-04-12 19:23 by laoshidan
[¿¼ÑÐ] Ò»Ö¾Ô¸085502£¬267·ÖÇóµ÷¼Á +13 ÔÙæҲҪ³Ô·¹°¡ 2026-04-08 14/700 2026-04-12 18:40 by laoshidan
[¿¼ÑÐ] ²ÄÁϹ¤³Ì281»¹Óе÷¼Á»ú»áÂð +28 xaw. 2026-04-11 29/1450 2026-04-12 17:55 by ÓôÓô·Æ·Æ
[¿¼ÑÐ] µ÷¼Á +25 ²»·ê´º 2026-04-07 26/1300 2026-04-12 11:53 by ´óÁ¦Ë®ÊÖÁ¦´óÎÞÇ
[¿¼ÑÐ] È˹¤ÖÇÄÜ320µ÷¼Á08¹¤À໹Óлú»áÂð +12 Õñ¡ªTZ 2026-04-10 12/600 2026-04-12 07:54 by wj165256
[¿¼ÑÐ] 327Çóµ÷¼Á +5 ʰ¹âÈÎȾ 2026-04-06 5/250 2026-04-12 02:29 by Çï¶¹²ËÑ¿
[¿¼ÑÐ] 22408µ÷¼Á315·Ö +3 zhuangyan123 2026-04-09 3/150 2026-04-12 00:25 by À¶ÔÆË¼Óê
[¿¼ÑÐ] 295Çóµ÷¼Á +6 ?ÒªÉϰ¶? 2026-04-05 7/350 2026-04-11 19:02 by laoshidan
[¿¼ÑÐ] ²ÄÁÏÀà284µ÷¼Á +40 Ïë»»ÊÖ»ú²»Ïë½âÊ 2026-04-08 48/2400 2026-04-10 23:28 by 314126402
[¿¼ÑÐ] 263ÄÜÔ´¶¯Á¦×¨Ë¶Çóµ÷¼Á +3 ¼Ó´óºÅ·¹ºÐ´ü 2026-04-10 3/150 2026-04-10 22:23 by 286640313
[¿¼ÑÐ] Ò»Ö¾Ô¸ÖÐÄÏ´óѧÎïÀíѧ£¬Ó¢Ò»66£¬Çóµ÷¼Á +4 ³¤ÑÌì½ì» 2026-04-08 5/250 2026-04-10 10:31 by Ó±¹û¶ù
[¿¼ÑÐ] »·¾³×¨Ë¶µ÷¼Á +16 »á˵»°µÄÖâ×Ó 2026-04-06 16/800 2026-04-10 10:30 by asy1wn
[¿¼ÑÐ] ¿¼ÑжþÂÖµ÷¼Á +8 ¹ÊÈË?? 2026-04-09 8/400 2026-04-10 09:44 by Çà÷duoduo
[¿¼ÑÐ] ²ÄÁÏר˶(0856) 339·ÖÇóµ÷¼Á +9 ¹þ¹þ¹þ¶ì¹þ¹þ¹þ 2026-04-09 10/500 2026-04-09 20:01 by Orcid
[¿¼ÑÐ] µ÷¼Á +19 2261744733 2026-04-08 19/950 2026-04-09 19:11 by vgtyfty
[¿¼ÑÐ] 0703»¯Ñ§Çóµ÷¼Á +21 ²»ÖªÃûµÄСئ 2026-04-08 21/1050 2026-04-09 18:55 by l_paradox
[¿¼ÑÐ] 308Çóµ÷¼Á +17 īīĮ 2026-04-06 17/850 2026-04-09 09:25 by Ò¼ÍùŸoǰ
[¿¼ÑÐ] Çóµ÷¼Á +8 ³Ô¿Ú±ù¼¤Áè 2026-04-07 8/400 2026-04-09 08:03 by 5268321
[¿¼ÑÐ] 22408 266Çóµ÷¼Á +11 masss11222 2026-04-07 14/700 2026-04-08 11:06 by yulian1987
[¿¼ÑÐ] Çóµ÷¼Á +11 wwwwabcde 2026-04-07 11/550 2026-04-07 23:16 by JourneyLucky
ÐÅÏ¢Ìáʾ
ÇëÌî´¦ÀíÒâ¼û