Closed adeansHFUT closed 2 years ago
` pid->p_error = pid->kp pid->error; pid->i_error = pid->ki pid->integral; pid->d_error = pid->kd (pid->error - 2 pid->error_l + pid->error_ll);
pid->out = pid->p_error + pid->i_error + pid->d_error; ` 这段代码是增量式pid还是位置式pid,p_error 和i_error是位置式的表示,d_error又是增量式的表示了
控制算法正在更新中
` pid->p_error = pid->kp pid->error; pid->i_error = pid->ki pid->integral; pid->d_error = pid->kd (pid->error - 2 pid->error_l + pid->error_ll);
pid->out = pid->p_error + pid->i_error + pid->d_error; ` 这段代码是增量式pid还是位置式pid,p_error 和i_error是位置式的表示,d_error又是增量式的表示了