{"id":8202,"date":"2024-06-18T17:01:01","date_gmt":"2024-06-18T09:01:01","guid":{"rendered":""},"modified":"2024-06-18T17:01:01","modified_gmt":"2024-06-18T09:01:01","slug":"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec","status":"publish","type":"post","link":"https:\/\/mushiming.com\/8202.html","title":{"rendered":"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec"},"content":{"rendered":"
\n

\u8be5\u7bc7\u535a\u5ba2\u662f\u5bf9\u9521\u6708\u79d1\u6280\u65e0\u4eba\u673a\u98de\u884c\u63a7\u5236\u539f\u7406\u6559\u5b66\u5185\u5bb9\u7684\u6574\u7406<\/p>\n<\/blockquote>\n

1\u3001\u56db\u65cb\u7ffc\u98de\u884c\u5668\u7684\u4e24\u79cd\u7ed3\u6784\uff1a<\/strong><\/h3>\n

\"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    \n
  •  \u201c\u00d7\u201d\u5b57\u6a21\u5f0f\uff1a Pitch\u548c <\/span>Roll\u4e0e1,3\u30012,4\u4e24\u7ec4\u7535\u673a\u5448 <\/span>45\u00b0\u5939\u89d2 \u3002 <\/span><\/li>\n
  • \u201c\u5341\u201d\u5b57\u6a21\u5f0f\uff1a Pitch\u5bf9\u5e94<\/span>2,4\u7535\u673a\u7684\u5bf9\u8f74\uff0cRoll\u5bf9\u5e941,3\u7535<\/span>\u673a\u7684\u5bf9\u8f74\uff0c\u5939\u89d2\u4e3a0\u3002<\/span><\/li>\n<\/ul>\n

    \uff08\u57fa\u672c\u9009\u7528X\u6a21\u5f0f\uff09<\/span><\/p>\n

    2\u3001\u56db\u65cb\u7ffc\u98de\u884c\u5668\u7684\u51e0\u79cd\u59ff\u6001<\/h3>\n

    \u5bfc\u8a00\uff1a<\/strong><\/h4>\n

    \u601d\u8003\u4e00\u4e0b\uff1a <\/span><\/p>\n

    1. \u56db\u4e2a\u7535\u673a\u8f6c\u901f\u5b8c\u5168\u76f8\u540c\uff0c\u65e0\u4eba\u673a\u80fd\u5e73\u8861\u561b\uff1f <\/span><\/p>\n

    \u7b54\uff1a\u56db\u65cb\u7ffc\u91cd\u5fc3\u4e0d\u4e00\u5b9a\u5728\u4e2d\u5fc3\u4e0a\uff0c\u6240\u4ee5\u65e0\u6cd5\u5e73\u8861\u3002 <\/span><\/p>\n

    2. \u8fbe\u5230\u5e73\u8861\u72b6\u6001\u540e\u4e0d\u6539\u53d8\u56db\u4e2a\u7535\u673a\u7684\u8f6c\u901f\uff0c\u65e0\u4eba\u673a\u80fd\u4e00\u76f4\u5e73\u8861\u4e0b\u53bb\u561b\uff1f <\/span><\/p>\n

    \u7b54\uff1a\u56e0\u4e3a\u6709\u5916\u754c\u7684\u5e72\u6270\uff0c\u56db\u65cb\u7ffc\u56db\u4e2a\u65cb\u7ffc\u7684\u8f6c\u901f\u8981\u4e00\u76f4\u5904\u4e8e\u8c03\u8282\u72b6 <\/span><\/p>\n

    \u6001\u624d\u80fd\u4fdd\u6301\u5e73\u8861\u3002<\/span><\/p>\n

    \u516d\u79cd\u98de\u884c\u59ff\u6001\uff1a<\/h4>\n

    1\u3001\u5782\u76f4\u8fd0\u52a8<\/strong><\/span><\/p>\n

    \u5728\u56db\u65cb\u7ffc\u5b8c\u62104\u8f74\u5e73\u8861\u7684\u6761\u4ef6\u4e0b\uff0c\u540c<\/span>\u65f6\u589e\u52a0\u56db\u4e2a\u7535\u673a\u7684\u8f93\u51fa\u529f\u7387\uff0c\u65cb\u7ffc\u8f6c\u901f<\/span>\u589e\u52a0\u4f7f\u5f97\u603b\u7684\u62c9\u529b\u589e\u5927\uff0c\u5f53\u603b\u62c9\u529b\u8db3\u4ee5<\/span>\u514b\u670d\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u53d7\u5230\u7684\u91cd\u529b\u65f6\uff0c\u56db\u65cb<\/span>\u7ffc\u98de\u884c\u5668\u4fbf\u79bb\u5730\u5782\u76f4\u4e0a\u5347\uff1b\u53cd\u4e4b\uff0c\u540c\u65f6<\/span>\u51cf\u5c0f\u56db\u4e2a\u7535\u673a\u7684\u8f93\u51fa\u529f\u7387\uff0c\u56db\u65cb\u7ffc\u98de\u884c<\/span>\u5668\u5219\u5782\u76f4\u4e0b\u964d\uff0c\u76f4\u81f3\u5e73\u8861\u843d\u5730\uff0c\u5b9e\u73b0\u4e86<\/span>\u6cbf z\u8f74\u7684\u5782\u76f4\u8fd0\u52a8\u3002\u5f53\u5916\u754c\u6270\u52a8\u91cf\u4e3a\u96f6<\/span>\u65f6\uff0c\u5728\u65cb\u7ffc\u4ea7\u751f\u7684\u5347\u529b\u7b49\u4e8e\u98de\u884c\u5668\u7684\u81ea<\/span>\u8eab\u7684\u91cd\u529b\u65f6\uff0c\u98de\u884c\u5668\u4fbf\u4fdd\u6301\u60ac\u505c\u72b6\u6001\u3002<\/span><\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    2\u3001\u4fef\u4ef0\u8fd0\u52a8<\/strong><\/span><\/p>\n

    \u5728\u56db\u65cb\u7ffc\u5b8c\u62104\u8f74\u5e73\u8861\u7684\u6761\u4ef6\u4e0b<\/span>\u5728\u56fe\u4e2d\uff0c\u7535\u673a1\u30014\u7684\u8f6c\u901f\u4e0a\u5347\uff0c\u7535<\/span>\u673a2\u30013\u7684\u8f6c\u901f\u4e0b\u964d\uff08\u6539\u53d8\u91cf\u5927\u5c0f\u5e94<\/span>\u76f8\u7b49\uff0c\u5728PID\u7a0b\u5e8f\u7684\u5b9e\u73b0\u4e2d\u4e5f\u6709\u4f53<\/span>\u73b0\uff09\u3002\u7531\u4e8e\u65cb\u7ffc1\u30014\u7684\u8f6c\u901f\u5373\u5347\u529b<\/span>\u4e0a\u5347\uff0c\u65cb\u7ffc 2\u30013\u7684\u8f6c\u901f\u5373\u5347\u529b\u4e0b\u964d\uff0c<\/span>\u4ea7\u751f\u7684\u4e0d\u5e73\u8861\u529b\u77e9\u4f7f\u673a\u8eab\u7ed5Roll\u8f74\u65cb<\/span>\u8f6c\uff0c\u540c\u7406\uff0c\u5f53\u7535\u673a1\u30014\u7684\u8f6c\u901f\u4e0b\u964d\uff0c<\/span>\u7535\u673a 2\u30013\u7684\u8f6c\u901f\u4e0a\u5347\uff0c\u673a\u8eab\u4fbf\u7ed5<\/span>Roll\u8f74\u5411\u53e6\u4e00\u4e2a\u65b9\u5411\u8fd0\u52a8\uff0c\u5b9e\u73b0\u98de\u884c<\/span>\u5668\u7684\u4fef\u4ef0\u8fd0\u52a8\u3002 <\/span><\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    3\u3001\u7ffb\u6eda\u8fd0\u52a8<\/strong><\/span><\/p>\n

    \u5728\u56fe\u4e2d\uff0c\u5728\u56db\u65cb\u7ffc\u5b8c\u62104\u8f74\u5e73\u8861\u7684\u6761<\/span>\u4ef6\u4e0b\uff0c\u63d0\u9ad83\u30014\u53f7\u7535\u673a\u7684\u8f6c\u901f\uff0c\u51cf<\/span>\u61621\u30012\u53f7\u7535\u673a\u7684\u8f6c\u901f\uff0c\u5219\u53ef\u4f7f\u673a\u8eab<\/span>\u7ed5Pitch\u8f74\u7684\u6b63\u5411\u6216\u8005\u53cd\u5411\u8fdb\u884c\u8fd0\u52a8<\/span>\u5b9e\u73b0\u98de\u884c\u5668\u7684\u7ffb\u6eda\u8fd0\u52a8<\/span><\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    4\u3001\u822a\u5411\u8fd0\u52a8<\/strong><\/span><\/p>\n

    \u5728\u56fe\u4e2d\uff0c\u5f53\u7535\u673a1\u548c\u7535\u673a3\u7684\u8f6c<\/span>\u901f\u4e0a\u5347\uff0c\u7535\u673a2\u548c\u7535\u673a4\u7684\u8f6c\u901f\u4e0b\u964d<\/span>\u65f6\uff0c\u65cb\u7ffc1\u548c\u65cb\u7ffc3\u5bf9\u673a\u8eab\u7684\u53cd\u626d\u77e9<\/span>\u5927\u4e8e\u65cb\u7ffc2\u548c\u65cb\u7ffc4\u5bf9\u673a\u8eab\u7684\u53cd\u626d\u77e9\uff0c<\/span>\u673a\u8eab\u4fbf\u5728\u5bcc\u4f59\u53cd\u626d\u77e9\u7684\u4f5c\u7528\u4e0b\u7ed5z\u8f74<\/span>\u8f6c\u52a8\uff0c\u5b9e\u73b0\u98de\u884c\u5668\u7684\u822a\u5411\u8fd0\u52a8\uff0c\u8f6c<\/span>\u5411\u4e0e\u7535\u673a1\u3001\u7535\u673a3\u7684\u8f6c\u5411\u76f8\u53cd\u3002<\/span><\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    5\u3001\u524d\u540e\u8fd0\u52a8<\/strong><\/span><\/p>\n

    \u5982\u679c\u60f3\u8981\u5b9e\u73b0\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u5728<\/span>\u6c34\u5e73\u9762\u5185\u524d\u540e\u3001\u5de6\u53f3\u7684\u8fd0\u52a8\uff0c\u5fc5\u987b<\/span>\u5728\u6c34\u5e73\u9762\u5185\u5bf9\u98de\u884c\u5668\u65bd\u52a0\u4e00\u5b9a\u7684\u529b\u3002<\/span>\u5728\u56fe\u4e2d\uff0c\u589e\u52a01\u30014\u53f7\u7535\u673a\u8f6c\u901f\uff0c\u4f7f<\/span>\u62c9\u529b\u589e\u5927\uff0c\u76f8\u5e94\u51cf\u5c0f2\u30013\u53f7\u7535\u673a\u8f6c<\/span>\u901f\uff0c\u4f7f\u62c9\u529b\u51cf\u5c0f\uff0c\u540c\u65f6\u53cd\u626d\u77e9\u4ecd\u7136<\/span>\u8981\u4fdd\u6301\u5e73\u8861\u3002\u6309\u4fef\u4ef0\u7406\u8bba\uff0c\u98de\u884c\u5668<\/span>\u9996\u5148\u53d1\u751f\u4e00\u5b9a\u7a0b\u5ea6\u7684\u503e\u659c\uff0c\u4ece\u800c\u4f7f<\/span>\u65cb\u7ffc\u62c9\u529b\u4ea7\u751f\u6c34\u5e73\u5206\u91cf\uff0c\u56e0\u6b64\u53ef\u4ee5<\/span>\u5b9e\u73b0\u65e0\u4eba\u673a\u7684\u524d\u98de\u8fd0\u52a8\u3002\u5411\u540e\u98de\u884c<\/span>\u4e0e\u5411\u524d\u98de\u884c\u6b63\u597d\u76f8\u53cd\u3002 <\/span><\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    6\u3001\u4fa7\u5411\u8fd0\u52a8<\/strong><\/span><\/p>\n

    \u4e0e\u524d\u540e\u8fd0\u52a8\u5bf9\u79f0\uff0c\u4e0e\u7ffb\u6eda\u8fd0<\/span>\u52a8\u540c\u8f74\u3002<\/span><\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    \u65e0\u4eba\u673a\u59ff\u6001\u8ba1\u7b97\u516c\u5f0f\uff1a<\/span><\/strong><\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    3\u3001\u56db\u65cb\u7ffc\u7684\u81ea\u52a8\u63a7\u5236\u53c2\u6570<\/h3>\n

    \u6cb9\u95e8\u57fa\u7840\u91cf  <\/h4>\n

    \u6cb9\u95e8\u57fa\u7840\u91cf\u7684\u9009\u62e9\uff1a <\/span><\/strong><\/p>\n

    1. \u5927\u7ea6\u5360\u7535\u673a\u6700\u9ad8\u8f6c\u901f\u768470%\u5de6\u53f3\u3002 <\/span><\/p>\n

    2. \u80fd\u591f\u63d0\u4f9b\u7ed9\u56db\u65cb\u7ffc\u4e00\u4e2a\u8d77\u98de\u7684\u6cb9\u95e8\uff0c\u6ce8\u610f\u5e76\u4e0d\u662f\u9760\u5730\u6548\u7684\u53cd\u4f5c\u7528\u529b\u662f\u56db\u65cb\u7ffc <\/span><\/p>\n

    \u8131\u79bb\u5730\u9762\u7684\u91cf\u3002 <\/span><\/p>\n

    \u6cb9\u95e8\u57fa\u7840\u91cf\u4e0e\u63a7\u5236\u91cf\u7684\u5360\u6bd4\uff1a <\/span><\/strong><\/p>\n

    \u6cb9\u95e8\u57fa\u7840\u91cf\u5360\u6bd4\u4e3a80%\u5de6\u53f3\u6216\u4ee5\u4e0a\uff0c\u63a7\u5236\u91cf\u53ea\u662f\u6839\u636e\u5916\u754c\u5e72\u6270\u548c\u91cd\u5fc3\u504f\u79fb <\/span><\/p>\n

    \u6240\u4fee\u6b63\u7684\u4e00\u4e2a\u6cb9\u95e8\u8f6c\u901f\uff0c\u6240\u4ee5\u53ea\u9700\u8981\u8f83\u5c0f\u7684\u63a7\u5236\u91cf\u5c31\u80fd\u4f7f\u56db\u65cb\u7ffc\u4fdd\u6301\u5e73\u8861\u3002<\/span><\/p>\n

    \u4e3a\u4ec0\u4e48\u6cb9\u95e8\u57fa\u7840\u91cf\u8fd9\u4e48\u5927\uff1a<\/strong><\/p>\n

    \u5982\u679c\u6cb9\u95e8\u57fa\u7840\u91cf\u8f83\u5c0f\uff0c\u63a7\u5236\u91cf\u8f83\u5927\uff0c\u4f1a\u53d1\u751f\u4ec0\u4e48\u60c5\u51b5\uff1f <\/span><\/p>\n

    \u7b54\uff1a \u4e00\u65e6\u63a7\u5236\u98de\u884c\u65f6\uff0c\u8c03\u8282\u5e73\u8861\u80fd\u529b\u5c31\u8f83\u5dee\uff0c\u4e14\u53d7\u5230\u5916\u754c\u5e72\u6270\u540e\uff0c\u63a7\u5236\u91cf\u8f83\u5927\uff0c <\/span><\/p>\n

    \u56db\u65cb\u7ffc\u5904\u4e8e\u8f83\u4e0d\u7a33\u5b9a\u72b6\u6001\u3002<\/span><\/p>\n

    PID\u63a7\u5236\u5668<\/span><\/h4>\n
    \n

    \u5173\u4e8ePID\u7684\u8be6\u7ec6\u539f\u7406\u6233\u4e0a\u9762\u7684\u94fe\u63a5<\/span><\/p>\n<\/blockquote>\n

    PID<\/strong><\/span>\u63a7\u5236\u5668<\/strong><\/span>\uff08\u6bd4\u4f8b<\/span>-<\/span>\u79ef\u5206<\/span>-<\/span>\u5fae\u5206\u63a7\u5236\u5668\uff09\uff0c\u7531\u6bd4\u4f8b\u5355\u5143<\/span>(P)<\/span>\u3001\u79ef\u5206\u5355\u5143(I)<\/span>\u548c\u5fae\u5206\u5355\u5143<\/span>(D)<\/span>\u7ec4\u6210\u3002\u900f\u8fc7<\/span>Kp<\/span>\uff0c<\/span>Ki<\/span>\u548c<\/span>Kd<\/span>\u4e09\u4e2a\u53c2\u6570\u7684\u8bbe\u5b9a\u3002<\/span>PID <\/span><\/p>\n

    \u63a7\u5236\u5668\u4e3b\u8981\u9002\u7528\u4e8e\u57fa\u672c\u4e0a\u7ebf\u6027\uff0c\u4e14\u52a8\u6001\u7279\u6027\u4e0d\u968f\u65f6\u95f4\u53d8\u5316\u7684\u7cfb\u7edf\u3002<\/span><\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    \u53c2\u6570\u53ca\u5176\u5f71\u54cd\u8303\u56f4\uff1a<\/strong><\/p>\n

    1\u3001\u7a33\u5b9a\u6027\uff08P\u548cI\u964d\u4f4e\u7cfb\u7edf\u7a33\u5b9a\u6027\uff0cD\u63d0\u9ad8\u7cfb\u7edf\u7a33\u5b9a\u6027\uff09 <\/span><\/p>\n

    \u5728\u5e73\u8861\u72b6\u6001\u4e0b\uff0c\u7cfb\u7edf\u53d7\u5230\u67d0\u4e2a\u5e72\u6270\u540e\uff0c\u7ecf\u8fc7\u4e00\u6bb5\u65f6\u95f4\u5176\u88ab\u63a7\u91cf\u53ef <\/span><\/p>\n

    \u4ee5\u8fbe\u5230\u67d0\u4e00\u7a33\u5b9a\u72b6\u6001\uff1b <\/span><\/p>\n

    2\u3001\u51c6\u786e\u6027\uff08P\u548cI\u63d0\u9ad8\u7a33\u6001\u7cbe\u5ea6\uff0cD\u65e0\u4f5c\u7528\uff09 <\/span><\/p>\n

    \u7cfb\u7edf\u5904\u4e8e\u7a33\u6001\u65f6\uff0c\u5176\u7a33\u6001\u8bef\u5dee\uff1b <\/span><\/p>\n

    3\u3001\u5feb\u901f\u6027\uff08<\/span>P<\/span>\u548c<\/span>D<\/span>\u63d0\u9ad8\u54cd\u5e94\u901f\u5ea6\uff0c<\/span>I<\/span>\u964d\u4f4e\u54cd\u5e94\u901f\u5ea6\uff09\uff1a\u7cfb\u7edf\u5bf9\u52a8\u6001\u54cd <\/span><\/p>\n

    \u5e94\u7684\u8981\u6c42\u3002\u4e00\u822c\u7531\u8fc7\u6e21\u65f6\u95f4\u7684\u957f\u77ed\u6765\u8861\u91cf\u3002<\/span><\/p>\n

    PID\u8c03\u53c2\u65b9\u6cd5\uff1a<\/span><\/strong><\/p>\n

    \n

    \u5bf9\u6db2\u538b\u6cf5\u8f6c\u901f\u8fdb\u884c\u63a7\u5236\u8fd8\u8981\uff1a
    1\u3001\u53d8\u9891\u5668-\u4f5c\u4e3a\u7535\u673a\u9a71\u52a8\uff08\u5bf9\u5e94\u4e3b\u63a7\u548c\u7535\u8c03\uff09\uff1b2\u3001\u5dee\u52a8\u53d8\u538b\u5668-\u4f5c\u4e3a\u8f93\u51fa\u53cd\u9988\uff08\u5bf9\u5e94\u65e0\u4eba\u673a\u59ff\u6001\u76d1\u89c6\uff09\u3002
    PID\u600e\u4e48\u5bf9\u8bef\u5dee\u63a7\u5236\uff0c\u542c\u6211\u7ec6\u7ec6\u9053\u6765\uff1a
    \u6240\u8c13\u201c\u8bef\u5dee\u201d\u5c31\u662f\u547d\u4ee4\u4e0e\u8f93\u51fa\u7684\u5dee\u503c\u3002\u6bd4\u5982\u4f60\u5e0c\u671b\u63a7\u5236\u6db2\u538b\u6cf5\u8f6c\u901f\u4e3a1500\u8f6c\uff08\u201c\u547d\u4ee4\u7535\u538b\u201d=6V\uff09\uff0c\u800c\u4e8b\u5b9e\u4e0a\u63a7\u5236\u6db2\u538b\u6cf5\u8f6c\u901f\u53ea\u67091000\u8f6c\uff08\u201c\u8f93\u51fa\u7535\u538b\u201d=4V\uff09\uff0c\u5219\u8bef\u5dee: e=500\u8f6c\uff08\u5bf9\u5e94\u7535\u538b2V\uff09\u3002\u5982\u679c\u6cf5\u5b9e\u9645\u8f6c\u901f\u4e3a2000\u8f6c\uff0c\u5219\u8bef\u5deee=-500\u8f6c\uff08\u6ce8\u610f\u6b63\u8d1f\u53f7\uff09\u3002
    \u8be5\u8bef\u5dee\u503c\u9001\u5230PID\u63a7\u5236\u5668\uff0c\u4f5c\u4e3aPID\u63a7\u5236\u5668\u7684\u8f93\u5165\u3002PID\u63a7\u5236\u5668\u7684\u8f93\u51fa\u4e3a\uff1a\u8bef\u5dee\u4e58\u6bd4\u4f8b\u7cfb\u6570Kp+Ki*\u8bef\u5dee\u79ef\u5206+Kd*\u8bef\u5dee\u5fae\u5206\u3002
    Kp*e + Ki*\u222bedt + Kd*\uff08de\/dt\uff09 \uff08\u5f0f\u4e2d\u7684t\u4e3a\u65f6\u95f4\uff0c\u5373\u5bf9\u65f6\u95f4\u79ef\u5206\u3001\u5fae\u5206\uff09
    \u4e0a\u5f0f\u4e3a\u4e09\u9879\u6c42\u548c\uff08\u5e0c\u671b\u4f60\u80fd\u770b\u61c2\uff09\uff0cPID\u7ed3\u679c\u540e\u9001\u5165\u7535\u673a\u53d8\u9891\u5668\u6216\u9a71\u52a8\u5668\u3002
    \u4ece\u4e0a\u5f0f\u770b\u51fa\uff0c\u5982\u679c\u6ca1\u6709\u8bef\u5dee\uff0c\u5373e=0\uff0c\u5219Kp*e=0\uff1bKd*\uff08de\/dt\uff09=0\uff1b\u800cKi*\u222bedt \u4e0d\u4e00\u5b9a\u4e3a0\u3002\u4e09\u9879\u4e4b\u548c\u4e0d\u4e00\u5b9a\u4e3a0\u3002
    \u603b\u4e4b\uff0c\u5982\u679c\u201c\u8bef\u5dee\u201d\u5b58\u5728\uff0cPID\u5c31\u4f1a\u5bf9\u53d8\u9891\u5668\u4f5c\u8c03\u6574\uff0c\u76f4\u5230\u8bef\u5dee=0\u3002
    \u8bc4\u4ef7\u4e00\u4e2a\u63a7\u5236\u7cfb\u7edf\u662f\u5426\u4f18\u8d8a\uff0c\u6709\u4e09\u4e2a\u6307\u6807\uff1a\u5feb\u3001\u7a33\u3001\u51c6\u3002
    \u6240\u8c13\u5feb\uff0c\u5c31\u662f\u8981\u4f7f\u538b\u529b\u80fd\u5feb\u901f\u5730\u8fbe\u5230\u201c\u547d\u4ee4\u503c\u201d\uff08\u4e0d\u77e5\u9053\u4f60\u7684\u7cfb\u7edf\u8981\u6c42\u591a\u5c11\u65f6\u95f4\uff09
    \u6240\u8c13\u7a33\uff0c\u5c31\u662f\u8981\u538b\u529b\u7a33\u5b9a\u4e0d\u6ce2\u52a8\u6216\u6ce2\u52a8\u91cf\u5c0f\uff08\u4e0d\u77e5\u9053\u4f60\u7684\u7cfb\u7edf\u5141\u8bb8\u591a\u5927\u6ce2\u52a8\uff09
    \u6240\u8c13\u51c6\uff0c\u5c31\u662f\u8981\u6c42\u201c\u547d\u4ee4\u503c\u201d\u4e0e\u201c\u8f93\u51fa\u503c\u201d\u4e4b\u95f4\u7684\u8bef\u5deee\u5c0f\uff08\u4e0d\u77e5\u9053\u4f60\u7684\u7cfb\u7edf\u5141\u8bb8\u591a\u5927\u8bef\u5dee\uff09
    \u5bf9\u4e8e\u4f60\u7684\u7cfb\u7edf\u6765\u8bf4\uff0c\u8981\u6c42\u201c\u5feb\u201d\u7684\u8bdd\uff0c\u53ef\u4ee5\u589e\u5927Kp\u3001Ki\u503c
    \u8981\u6c42\u201c\u51c6\u201d\u7684\u8bdd\uff0c\u53ef\u4ee5\u589e\u5927Ki\u503c
    \u8981\u6c42\u201c\u7a33\u201d\u7684\u8bdd\uff0c\u53ef\u4ee5\u589e\u5927Kd\u503c,\u53ef\u4ee5\u51cf\u5c11\u538b\u529b\u6ce2\u52a8
    \u4ed4\u7ec6\u5206\u6790\u53ef\u4ee5\u5f97\u77e5\uff1a\u8fd9\u4e09\u4e2a\u6307\u6807\u662f\u76f8\u4e92\u77db\u76fe\u7684\u3002
    \u5982\u679c\u592a\u201c\u5feb\u201d\uff0c\u53ef\u80fd\u5bfc\u81f4\u4e0d\u201c\u7a33\u201d\uff1b
    \u5982\u679c\u592a\u201c\u7a33\u201d\uff0c\u53ef\u80fd\u5bfc\u81f4\u4e0d\u201c\u5feb\u201d\uff1b
    \u53ea\u8981\u7cfb\u7edf\u7a33\u5b9a\u4e14\u5b58\u5728\u79ef\u5206Ki\uff0c\u8be5\u7cfb\u7edf\u5728\u9759\u6001\u662f\u6ca1\u6709\u8bef\u5dee\u7684\uff08\u4f1a\u5b58\u5728\u52a8\u6001\u8bef\u5dee\uff09\uff1b
    \u6240\u8c13\u52a8\u6001\u8bef\u5dee\uff0c\u6307\u5f53\u201c\u547d\u4ee4\u503c\u201d\u4e0d\u4e3a\u6052\u503c\u65f6\uff0c\u201c\u8f93\u51fa\u503c\u201d\u8ddf\u4e0d\u4e0a\u201c\u547d\u4ee4\u503c\u201d\u800c\u5b58\u5728\u7684\u8bef\u5dee\u3002\u4e0d\u7ba1\u662f\u8c01\u8bbe\u8ba1\u7684\u3001\u518d\u597d\u7684\u7cfb\u7edf\u90fd\u5b58\u5728\u52a8\u6001\u8bef\u5dee\uff0c\u52a8\u6001\u8bef\u5dee\u4f53\u73b0\u7684\u662f\u7cfb\u7edf\u7684\u8ddf\u8e2a\u7279\u6027\uff0c\u6bd4\u5982\u8bf4\uff0c\u6709\u7684\u97f3\u54cd\u529f\u653e\u5bf9\u9ad8\u9891\u58f0\u97f3\u4e0d\u654f\u611f\uff0c\u5c31\u8bf4\u660e\u529f\u653e\u8ddf\u8e2a\u6027\u80fd\u4e0d\u597d\u3002
    \u8c03\u6574PID\u53c2\u6570\u6709\u4e24\u79cd\u65b9\u6cd5\uff1a1\u3001\u4eff\u771f\u6cd5\uff1b2\u3001\u201c\u8bd5\u51d1\u6cd5\u201d
    \u4eff\u771f\u6cd5\u6211\u60f3\u4f60\u662f\u4e0d\u4f1a\u7684\uff0c\u4ecb\u7ecd\u4e00\u4e0b\u201c\u8bd5\u51d1\u6cd5\u201d
    \u201c\u8bd5\u51d1\u6cd5\u201d\u8bbe\u7f6ePID\u53c2\u6570\u7684\u5efa\u8bae\u6b65\u9aa4\uff1a
    1\u3001\u628aKi\u4e0eKd\u8bbe\u4e3a0\uff0c\u4e0d\u8981\u79ef\u5206\u4e0e\u5fae\u5206\uff1b
    2\u3001\u628aKp\u503c\u4ece0\u5f00\u59cb\u6162\u6162\u589e\u5927\uff0c\u89c2\u5bdf\u538b\u529b\u7684\u53cd\u5e94\u901f\u5ea6<\/strong>\u662f\u5426\u5728\u4f60\u7684\u8981\u6c42\u5185\uff1b
    3\u3001\u5f53\u538b\u529b\u7684\u53cd\u5e94\u901f\u5ea6\u8fbe\u5230\u4f60\u7684\u8981\u6c42\uff0c\u505c\u6b62\u589e\u5927Kp\u503c\uff1b
    4\u3001\u5728\u8be5Kp\u503c\u7684\u57fa\u7840\u4e0a\u51cf\u5c1110%\uff1b<\/strong>
    5\u3001\u628aKi\u503c\u4ece0\u5f00\u59cb\u6162\u6162\u589e\u5927\uff1b
    6\u3001\u5f53\u538b\u529b\u5f00\u59cb\u6ce2\u52a8\uff08\u53ef\u80fd\u4ea7\u751f\u6ea2\u51fa\u6548\u679c\uff09<\/strong>\uff0c\u505c\u6b62\u589e\u5927Ki\u503c\uff1b
    7\u3001\u5728\u8be5Ki\u503c\u7684\u57fa\u7840\u4e0a\u51cf\u5c1110%\uff1b<\/strong>
    8\u3001\u628aKd\u503c\u4ece0\u5f00\u59cb\u6162\u6162\u589e\u5927\uff0c\u89c2\u5bdf\u538b\u529b\u7684\u53cd\u5e94\u901f\u5ea6<\/strong>\u662f\u5426\u5728\u4f60\u7684\u8981\u6c42\u5185 <\/p>\n<\/blockquote>\n

    PID\u516c\u5f0f\u53ca\u53c2\u6570\u89e3\u6790\uff1a<\/strong> <\/p>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

    ?(k)<\/span>\u662f\u6307\u8bbe\u5b9a\u503c\u548c\u5f53\u524d\u503c\u7684\u8bef\u5dee\uff0c<\/span>??<\/span>\u4e3a\u63a7\u5236\u5468\u671f\uff0c<\/span>?<\/span>?<\/span>\u4e3a\u6bd4\u4f8b\u7cfb\u6570\uff0c<\/span>?<\/span>?<\/span>\u4e3a\u79ef<\/span> \u5206\u7cfb\u6570\uff0c<\/span>?<\/span>?<\/span>\u4e3a\u5fae\u5206\u7cfb\u6570\uff0c<\/span>?(0)<\/span>\u4e3a\u7535\u673a\u8c03\u901f\u7684\u57fa\u7840\u91cf\u3002 <\/span><\/p>\n

     <\/p>\n

     <\/p>\n

    PID\u7f16\u7a0b\u65b9\u6cd5\uff1a<\/strong><\/p>\n

    \n

    \u5f53\u524d\u89d2\u5ea6\u8bef\u5dee <\/strong><\/span>= <\/strong><\/span>\u671f\u671b\u89d2\u5ea6 <\/strong><\/span>\u2013 <\/strong><\/span>\u5b9e\u9645\u89d2\u5ea6 <\/strong><\/span>; <\/strong><\/span><\/p>\n

    PID_P<\/strong><\/span>\u9879 <\/strong><\/span>= Kp * <\/strong><\/span>\u5f53\u524d\u89d2\u5ea6\u8bef\u5dee <\/strong><\/span>; <\/strong><\/span><\/p>\n

    PID_I<\/strong><\/span>\u9879 <\/strong><\/span>+= Ki * <\/strong><\/span>\u5f53\u524d\u89d2\u5ea6\u8bef\u5dee <\/strong><\/span>; <\/strong><\/span><\/p>\n

    PID_I<\/strong><\/span>\u9879 \u8fdb\u884c\u79ef\u5206\u9650\u5e45 <\/strong><\/span>;<\/strong><\/span><\/p>\n

    \/\/\u79ef\u5206\u9650\u5e45\u662f\u6307\u5bf9\u79ef\u5206\u6b21\u6570\u8fdb\u884c\u9650\u5236\u9632\u6b62\u79ef\u5206\u503c\u592a\u5927\u4ece\u800c\u5bfc\u81f4\u51fa\u9519<\/strong><\/span><\/p>\n

    \/\/<\/strong><\/span>\u5f53\u524d\u89d2\u5ea6\u7684\u5fae\u5206\uff08\u539f\u7406\u4e0a\u4e3a\u5f53\u524d\u89d2\u5ea6\u8bef\u5dee <\/strong><\/span>\u2013 <\/strong><\/span>\u4e0a\u4e00\u6b21\u89d2\u5ea6 <\/strong><\/span><\/p>\n

    \/\/<\/strong><\/span>\u8bef\u5dee\uff0c\u6362\u4e00\u4e2a\u89d2\u5ea6\u6765\u8bb2\u89d2\u5ea6\u7684\u5fae\u5206\u5c31\u662f\u89d2\u901f\u5ea6\uff0c\u6240\u4ee5\u4e00 <\/strong><\/span><\/p>\n

    \/\/<\/strong><\/span>\u822c\u7528\u9640\u87ba\u4eea\u7684\u89d2\u901f\u5ea6\u6570\u636e\u6765\u66ff\u4ee3\u89d2\u5ea6\u7684\u5fae\u5206\uff09 <\/strong><\/span><\/p>\n

    PID_D<\/strong><\/span>\u9879 <\/strong><\/span>= Kd * <\/strong><\/span>\u5f53\u524d\u89d2\u901f\u5ea6\u7684\u5fae\u5206\uff08\u9640\u87ba\u4eea\u6570\u636e\uff09 <\/strong><\/span>; <\/strong><\/span><\/p>\n

    \u5355\u73af<\/strong><\/span>PID<\/strong><\/span>\u603b\u8f93\u51fa <\/strong><\/span>= PID_P<\/strong><\/span>\u9879 <\/strong><\/span>+ PID_I<\/strong><\/span>\u9879 <\/strong><\/span>+ PID_D<\/strong><\/span>\u9879 <\/strong><\/span>; <\/strong><\/span><\/p>\n

    \u5355\u73af<\/strong><\/span>PID<\/strong><\/span>\u603b\u8f93\u51fa\u9650\u5e45 <\/strong><\/span>;<\/strong><\/span><\/p>\n<\/blockquote>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

     <\/p>\n

    \u98de\u884c\u5668\u59ff\u6001\u63a7\u5236\u8981\u70b9<\/span><\/h4>\n
    \n

    \u98de\u884c\u5668\u59ff\u6001\u8c03\u63a7\u4f7f\u7528\u4e86\u4e24\u91cd\uff08\u89d2\u901f\u5ea6\u548c\u89d2\u5ea6\u4f5c\u4e3a\u88ab\u8c03\u63a7\u91cf\uff09PID\u8c03\u63a7<\/span><\/p>\n<\/blockquote>\n

    \"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec<\/p>\n

     <\/p>\n

      \n
    • \u589e\u52a0\u4e86\u63a7\u5236\u53d8\u91cf\uff0c\u589e\u52a0\u6297\u5e72\u6270\u6027 <\/span><\/li>\n
    • \u5185\u73af\u7c97\u8c03\uff0c\u5916\u73af\u7ec6\u8c03 <\/span><\/li>\n
    • \u5185\u73af\u8d77\u5230\u8d85\u524d\u8c03\u8282\u7684\u603b\u7528\uff0c\u589e\u52a0\u9c81\u68d2\u6027 <\/span><\/li>\n
    • \u63d0\u9ad8\u4e86\u7cfb\u7edf\u5de5\u4f5c\u9891\u7387\uff0c\u51cf\u5c0f\u9707\u8361\u5468\u671f\uff0c\u8c03\u8282\u65f6\u95f4\u7f29\u77ed\uff0c\u7cfb\u7edf\u7684\u5feb\u901f\u6027\u589e\u5f3a<\/span>\u4e32\u7ea7<\/span>PID <\/span><\/li>\n<\/ul>\n

      \u4e32\u7ea7PID\u7f16\u7a0b\uff1a<\/strong><\/p>\n

      \n

      \u5f53\u524d\u89d2\u5ea6\u8bef\u5dee <\/strong><\/span>= <\/strong><\/span>\u671f\u671b\u89d2\u5ea6 <\/strong><\/span>\u2013 <\/strong><\/span>\u5b9e\u9645\u89d2\u5ea6 <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5916\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>P<\/strong><\/span>\u9879 <\/strong><\/span>= <\/strong><\/span>Kp <\/strong><\/span>* \u5f53\u524d\u89d2\u5ea6\u8bef\u5dee <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5916\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>I<\/strong><\/span>\u9879 <\/strong><\/span>+= <\/strong><\/span>Ki <\/strong><\/span>* \u5f53\u524d\u89d2\u5ea6\u8bef\u5dee <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5916\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>I<\/strong><\/span>\u9879 \u8fdb\u884c\u79ef\u5206\u9650\u5e45 <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5916\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>D<\/strong><\/span>\u9879 <\/strong><\/span>= <\/strong><\/span>Kd <\/strong><\/span>* \uff08\u672c\u6b21\u89d2\u5ea6\u8bef\u5dee <\/strong><\/span>\u2013 <\/strong><\/span>\u4e0a\u6b21\u89d2\u5ea6\u8bef\u5dee\uff09<\/strong><\/span>\/ <\/strong><\/span>\u63a7\u5236\u5468\u671f <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5916\u73af<\/strong><\/span>PID<\/strong><\/span>\u603b\u8f93\u51fa <\/strong><\/span>= <\/strong><\/span>\u5916\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>P<\/strong><\/span>\u9879 <\/strong><\/span>+ <\/strong><\/span>\u5916\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>I<\/strong><\/span>\u9879 <\/strong><\/span>+ <\/strong><\/span>\u5916\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>D<\/strong><\/span>\u9879 <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5916\u73af<\/strong><\/span>PID<\/strong><\/span>\u603b\u8f93\u51fa\u9650\u5e45 <\/strong><\/span>;<\/strong><\/span>\u5f53\u524d\u89d2\u901f\u5ea6\u8bef\u5dee <\/strong><\/span>= <\/strong><\/span>\u5916\u73af<\/strong><\/span>PID<\/strong><\/span>\u603b\u8f93\u51fa <\/strong><\/span>\u2013 <\/strong><\/span>\u5f53\u524d\u89d2\u901f\u5ea6 <\/strong><\/span>;<\/strong><\/span>\uff08\u671f\u671b\u89d2\u901f\u5ea6\u4e3a<\/strong><\/span>0<\/strong><\/span>\uff09<\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5185\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>P<\/strong><\/span>\u9879 <\/strong><\/span>= <\/strong><\/span>Kp <\/strong><\/span>* \u5f53\u524d\u89d2\u901f\u5ea6\u8bef\u5dee <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5185\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>I<\/strong><\/span>\u9879 <\/strong><\/span>+= <\/strong><\/span>Ki <\/strong><\/span>* \u5f53\u524d\u89d2\u901f\u5ea6\u8bef\u5dee<\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5185\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>I<\/strong><\/span>\u9879 \u8fdb\u884c\u79ef\u5206\u9650\u5e45 <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5185\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>D<\/strong><\/span>\u9879 <\/strong><\/span>= <\/strong><\/span>Kd <\/strong><\/span>* \uff08\u672c\u6b21\u89d2\u901f\u5ea6\u8bef\u5dee <\/strong><\/span>\u2013 <\/strong><\/span>\u4e0a\u6b21\u89d2\u901f\u5ea6\u8bef\u5dee\uff09<\/strong><\/span>\/ <\/strong><\/span>\u63a7\u5236\u5468\u671f <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5185\u73af<\/strong><\/span>PID<\/strong><\/span>\u603b\u8f93\u51fa <\/strong><\/span>= <\/strong><\/span>\u5185\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>P<\/strong><\/span>\u9879 <\/strong><\/span>+ <\/strong><\/span>\u5185\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>I<\/strong><\/span>\u9879 <\/strong><\/span>+ <\/strong><\/span>\u5185\u73af<\/strong><\/span>PID<\/strong><\/span>_<\/strong><\/span>D<\/strong><\/span>\u9879 <\/strong><\/span>;<\/strong><\/span><\/p>\n

      \u5185\u73af<\/strong><\/span>PID<\/strong><\/span>\u603b\u8f93\u51fa\u9650\u5e45 <\/strong><\/span>;<\/strong><\/span><\/p>\n<\/blockquote>\n","protected":false},"excerpt":{"rendered":"\u56db\u65cb\u7ffc\u98de\u884c\u5668\u8fd0\u52a8\u63a7\u5236_\u98de\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u5305\u62ec\u8be5\u7bc7\u535a\u5ba2\u662f\u5bf9\u9521\u6708\u79d1\u6280\u65e0\u4eba\u673a\u98de\u884c\u63a7\u5236\u539f\u7406\u6559\u5b66\u5185\u5bb9\u7684\u6574\u74061\u3001\u56db\u65cb\u7ffc\u98de\u884c\u5668\u7684\u4e24\u79cd...","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[],"tags":[],"_links":{"self":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts\/8202"}],"collection":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/comments?post=8202"}],"version-history":[{"count":0,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts\/8202\/revisions"}],"wp:attachment":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/media?parent=8202"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/categories?post=8202"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/tags?post=8202"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}