PID参数设置.rar_arduino 舵机_arduino pid器_舵机arduino pid_舵机pd参数_舵机pid设

#include "delay.h" #include "usart.h" #include "PID.h" //int x_aim = 240; //int y_aim = 160; extern int x_axis; extern int y_axis; struct _pid { int SetAxis; //定义设定值 float ActualAxis; //定义实际值 int err; //定义偏差值 float err_last; //定义上一个偏差值 float Kp,Ki,Kd; //定义比例、积分、微分系数 float output; //定义电压值（控制执行器的变量） float integral; //定义积分值 float umax; float umin; }pidx,pidy; void PID_init() { pidx.Kp = 1.5; pidx.Ki = 0.2; pidx.Kd = 1.6; pidx.err = 0.0; pidx.err_last = 0.0; pidx.output = 0.0; pidx.SetAxis = 150; pidx.ActualAxis = 0.0; pidx.umax = 200.0; pidx.umin = 100.0; pidx.integral = 0.0; pidy.Kp = 1.7; pidy.Ki = 0.0; pidy.Kd =1.2; pidy.err = 0.0; pidy.err_last = 0.0; pidy.output = 0.0; pidy.SetAxis = 160; pidy.ActualAxis = 0.0; pidy.umax =100.0; pidy.umin = -100.0; pidy.integral = 0.0; } int x_axisPID_calculate() { if(x_axis>30&&x_axis<270) { pidx.err = pidx.SetAxis -x_axis ; pidx.output=pidx.Kp*pidx.err+pidx.Ki*pidx.integral+pidx.Kd*(pidx.err-pidx.err_last); pidx.err_last = pidx.err; } else pidx.output = 0; // if(pidx.output>60) // pidx.output = 60; // if(pidx.output<-60) // pidx.output = -60; // printf(" y_axis：%f %d\n",pidx.output,pidx.err); return (int)pidx.output; } int y_axisPID_calculate() { pidy.err = pidy.SetAxis - y_axis; pidy.output=pidy.Kp*pidy.err+pidy.Ki*pidy.integral+pidy.Kd*(pidy.err-pidy.err_last); pidy.err_last = pidy.err; if(pidy.output>400) pidy.output = 400; if(pidy.output<-400) pidy.output = -400; printf(" y_axis：%f %d\n",pidy.output,pidy.err); return (int)pidy.output; }