1 增量式PID

 

 

 

import matplotlib.pyplot as plt


class Pid:

    def __init__(self, target, p, i, d):
        self.target = target
        self.kp = p
        self.ki = i
        self.kd = d
        self.target_val = target
        self.now_val = 0
        self.error_new = 0
        self.error_last = 0
        self.error_last_last = 0
        self.d = 0

    def myfunc(self):
        self.error_last_last = self.error_last
        self.error_last = self.error_new
        self.error_new = self.target_val - self.now_val
        self.d = self.kp * (self.error_new - self.error_last) + self.ki * self.error_new + self.kd * (self.error_new - 2 * self.error_last + self.error_last_last )
        self.now_val += self.d
        return self.now_val


p = Pid(100, 0.02, 0.4, 0)
val = []
for i in range(0, 100):
    val.append(p.myfunc())

plt.plot(val)
plt.grid()
plt.xlim(0, 100)
plt.show()

　　

 

 修改的D 的计算

e-el+el-ell   结果好像变化不大