[PID璁$畻] 娴嬮噺鍊?29.00, 璇樊=29.00
姣斾緥椤? Kp*error = 0.2*29.00 = 5.80
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-4.21 = -0.21
PID杈撳嚭: u = 10.59
璁$畻鏂颁綅缃? H=583.79, V=595.60
[鑸垫満璁剧疆] 鍘熷鐩爣: H=583.79, V=595.60
浣嶇疆闄愬埗鐢熸晥: H=583, V=595
璁剧疆鑸垫満浣嶇疆: H=583, V=595, 绉诲姩鏃堕棿=500ms
鍦嗗績闃熷垪: 鏁伴噺=65, 骞冲潎鍊?(277.82,267.91), 鏍囧噯宸?(72.46,69.75)
鍦嗗績鍋忓樊: dx=-36, dy=29
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(429,401), 杞撮暱(0.00,15.27), 瑙掑害=21.58掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10)
鍦嗗績鍋忓樊: dx=-33, dy=31
褰撳墠鑸垫満浣嶇疆: H=583, V=595
[PID璁$畻] 娴嬮噺鍊?-33.00, 璇樊=-33.00
姣斾緥椤? Kp*error = 0.2*-33.00 = -6.60
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*2.95 = 0.15
PID杈撳嚭: u = -11.45
[PID璁$畻] 娴嬮噺鍊?31.00, 璇樊=31.00
姣斾緥椤? Kp*error = 0.2*31.00 = 6.20
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-2.97 = -0.15
PID杈撳嚭: u = 11.05
璁$畻鏂颁綅缃? H=586.60, V=598.76
[鑸垫満璁剧疆] 鍘熷鐩爣: H=586.60, V=598.76
浣嶇疆闄愬埗鐢熸晥: H=586, V=598
璁剧疆鑸垫満浣嶇疆: H=586, V=598, 绉诲姩鏃堕棿=500ms
鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10)
鍦嗗績鍋忓樊: dx=-33, dy=31
鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10)
鍦嗗績鍋忓樊: dx=-33, dy=31
鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10)
鍦嗗績鍋忓樊: dx=-33, dy=31
鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10)
鍦嗗績鍋忓樊: dx=-33, dy=31
鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10)
鍦嗗績鍋忓樊: dx=-33, dy=31
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(254,227), 杞撮暱(0.00,33.33), 瑙掑害=12.43掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=67, 骞冲潎鍊?(279.72,269.28), 鏍囧噯宸?(73.75,70.76)
鍦嗗績鍋忓樊: dx=-34, dy=30
褰撳墠鑸垫満浣嶇疆: H=586, V=598
[PID璁$畻] 娴嬮噺鍊?-34.00, 璇樊=-34.00
姣斾緥椤? Kp*error = 0.2*-34.00 = -6.80
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*2.16 = 0.11
PID杈撳嚭: u = -11.69
[PID璁$畻] 娴嬮噺鍊?30.00, 璇樊=30.00
姣斾緥椤? Kp*error = 0.2*30.00 = 6.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-2.57 = -0.13
PID杈撳嚭: u = 10.87
璁$畻鏂颁綅缃? H=589.68, V=601.70
[鑸垫満璁剧疆] 鍘熷鐩爣: H=589.68, V=601.70
浣嶇疆闄愬埗鐢熸晥: H=589, V=601
璁剧疆鑸垫満浣嶇疆: H=589, V=601, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(503,41), 杞撮暱(0.00,109.95), 瑙掑害=101.48掳, 鍦嗗害=1.0000
妞渾 2: 涓績(502,44), 杞撮暱(0.00,80.98), 瑙掑害=74.85掳, 鍦嗗害=1.0000
妞渾 3: 涓績(501,45), 杞撮暱(0.00,53.64), 瑙掑害=49.79掳, 鍦嗗害=1.0000
妞渾 4: 涓績(501,46), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 5: 涓績(260,224), 杞撮暱(0.00,27.08), 瑙掑害=11.88掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=72, 骞冲潎鍊?(291.78,256.14), 鏍囧噯宸?(87.53,85.65)
鍦嗗績鍋忓樊: dx=-41, dy=28
褰撳墠鑸垫満浣嶇疆: H=589, V=601
[PID璁$畻] 娴嬮噺鍊?-41.00, 璇樊=-41.00
姣斾緥椤? Kp*error = 0.2*-41.00 = -8.20
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*0.33 = 0.02
PID杈撳嚭: u = -13.18
[PID璁$畻] 娴嬮噺鍊?28.00, 璇樊=28.00
姣斾緥椤? Kp*error = 0.2*28.00 = 5.60
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-2.46 = -0.12
PID杈撳嚭: u = 10.48
璁$畻鏂颁綅缃? H=593.15, V=604.56
[鑸垫満璁剧疆] 鍘熷鐩爣: H=593.15, V=604.56
浣嶇疆闄愬埗鐢熸晥: H=593, V=604
璁剧疆鑸垫満浣嶇疆: H=593, V=604, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(501,34), 杞撮暱(109.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(505,43), 杞撮暱(0.00,84.33), 瑙掑害=76.80掳, 鍦嗗害=1.0000
妞渾 3: 涓績(504,43), 杞撮暱(75.87,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 4: 涓績(504,44), 杞撮暱(0.00,57.14), 瑙掑害=51.64掳, 鍦嗗害=1.0000
妞渾 5: 涓績(504,44), 杞撮暱(49.43,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 6: 涓績(397,214), 杞撮暱(0.00,20.95), 瑙掑害=13.66掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=78, 骞冲潎鍊?(306.71,241.85), 鏍囧噯宸?(99.33,97.68)
鍦嗗績鍋忓樊: dx=-30, dy=18
褰撳墠鑸垫満浣嶇疆: H=593, V=604
[PID璁$畻] 娴嬮噺鍊?-30.00, 璇樊=-30.00
姣斾緥椤? Kp*error = 0.2*-30.00 = -6.00
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*2.46 = 0.12
PID杈撳嚭: u = -10.88
[PID璁$畻] 娴嬮噺鍊?18.00, 璇樊=18.00
姣斾緥椤? Kp*error = 0.2*18.00 = 3.60
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-3.97 = -0.20
PID杈撳嚭: u = 8.40
璁$畻鏂颁綅缃? H=596.42, V=606.86
[鑸垫満璁剧疆] 鍘熷鐩爣: H=596.42, V=606.86
浣嶇疆闄愬埗鐢熸晥: H=596, V=606
璁剧疆鑸垫満浣嶇疆: H=596, V=606, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(507,40), 杞撮暱(0.00,110.37), 瑙掑害=101.59掳, 鍦嗗害=1.0000
妞渾 2: 涓績(506,42), 杞撮暱(0.00,81.37), 瑙掑害=75.02掳, 鍦嗗害=1.0000
妞渾 3: 涓績(505,44), 杞撮暱(0.00,53.93), 瑙掑害=49.87掳, 鍦嗗害=1.0000
妞渾 4: 涓績(505,44), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 5: 涓績(394,215), 杞撮暱(0.00,24.67), 瑙掑害=16.32掳, 鍦嗗害=1.0000
妞渾 6: 涓績(261,222), 杞撮暱(0.00,29.92), 瑙掑害=11.94掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=84, 骞冲潎鍊?(316.68,231.80), 鏍囧噯宸?(105.19,103.27)
鍦嗗績鍋忓樊: dx=-4, dy=-9
褰撳墠鑸垫満浣嶇疆: H=596, V=606
[PID璁$畻] 娴嬮噺鍊?-4.00, 璇樊=-4.00
姝诲尯鐢熸晥: |-4.00| < 5, 璇樊褰掗浂
姣斾緥椤? Kp*error = 0.2*0.00 = 0.00
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*7.97 = 0.40
PID杈撳嚭: u = -4.60
[PID璁$畻] 娴嬮噺鍊?-9.00, 璇樊=-9.00
姣斾緥椤? Kp*error = 0.2*-9.00 = -1.80
绉垎椤? Ki*integral = 0.01*491.00 = 4.91
寰垎椤? Kd*derivative = 0.05*-8.57 = -0.43
PID杈撳嚭: u = 2.68
璁$畻鏂颁綅缃? H=597.45, V=606.91
[鑸垫満璁剧疆] 鍘熷鐩爣: H=597.45, V=606.91
浣嶇疆闄愬埗鐢熸晥: H=597, V=606
璁剧疆鑸垫満浣嶇疆: H=597, V=606, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(508,40), 杞撮暱(0.00,110.48), 瑙掑害=101.63掳, 鍦嗗害=1.0000
妞渾 2: 涓績(506,42), 杞撮暱(0.00,81.36), 瑙掑害=75.01掳, 鍦嗗害=1.0000
妞渾 3: 涓績(506,44), 杞撮暱(0.00,53.99), 瑙掑害=49.93掳, 鍦嗗害=1.0000
妞渾 4: 涓績(505,44), 杞撮暱(28.49,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 5: 涓績(261,222), 杞撮暱(0.00,30.41), 瑙掑害=12.06掳, 鍦嗗害=1.0000
妞渾 6: 涓績(395,215), 杞撮暱(0.00,24.45), 瑙掑害=15.69掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=90, 骞冲潎鍊?(325.36,223.09), 鏍囧噯宸?(109.32,107.12)
鍦嗗績鍋忓樊: dx=5, dy=-17
褰撳墠鑸垫満浣嶇疆: H=597, V=606
[PID璁$畻] 娴嬮噺鍊?5.00, 璇樊=5.00
姣斾緥椤? Kp*error = 0.2*5.00 = 1.00
绉垎椤? Ki*integral = 0.01*-495.00 = -4.95
寰垎椤? Kd*derivative = 0.05*7.38 = 0.37
PID杈撳嚭: u = -3.58
[PID璁$畻] 娴嬮噺鍊?-17.00, 璇樊=-17.00
姣斾緥椤? Kp*error = 0.2*-17.00 = -3.40
绉垎椤? Ki*integral = 0.01*474.00 = 4.74
寰垎椤? Kd*derivative = 0.05*-8.46 = -0.42
PID杈撳嚭: u = 0.92
璁$畻鏂颁綅缃? H=598.13, V=606.31
[鑸垫満璁剧疆] 鍘熷鐩爣: H=598.13, V=606.31
浣嶇疆闄愬埗鐢熸晥: H=598, V=606
璁剧疆鑸垫満浣嶇疆: H=598, V=606, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(509,40), 杞撮暱(0.00,110.36), 瑙掑害=101.88掳, 鍦嗗害=1.0000
妞渾 2: 涓績(507,43), 杞撮暱(0.00,80.42), 瑙掑害=74.96掳, 鍦嗗害=1.0000
妞渾 3: 涓績(507,44), 杞撮暱(0.00,53.89), 瑙掑害=50.05掳, 鍦嗗害=1.0000
妞渾 4: 涓績(396,215), 杞撮暱(0.00,23.88), 瑙掑害=15.56掳, 鍦嗗害=1.0000
妞渾 5: 涓績(263,222), 杞撮暱(0.00,29.05), 瑙掑害=12.26掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=95, 骞冲潎鍊?(331.20,217.28), 鏍囧噯宸?(111.50,108.95)
鍦嗗績鍋忓樊: dx=11, dy=-23
褰撳墠鑸垫満浣嶇疆: H=598, V=606
[PID璁$畻] 娴嬮噺鍊?11.00, 璇樊=11.00
姣斾緥椤? Kp*error = 0.2*11.00 = 2.20
绉垎椤? Ki*integral = 0.01*-484.00 = -4.84
寰垎椤? Kd*derivative = 0.05*7.10 = 0.36
PID杈撳嚭: u = -2.28
[PID璁$畻] 娴嬮噺鍊?-23.00, 璇樊=-23.00
姣斾緥椤? Kp*error = 0.2*-23.00 = -4.60
绉垎椤? Ki*integral = 0.01*451.00 = 4.51
寰垎椤? Kd*derivative = 0.05*-7.97 = -0.40
PID杈撳嚭: u = -0.49
璁$畻鏂颁綅缃? H=598.72, V=605.83
[鑸垫満璁剧疆] 鍘熷鐩爣: H=598.72, V=605.83
浣嶇疆闄愬埗鐢熸晥: H=598, V=605
璁剧疆鑸垫満浣嶇疆: H=598, V=605, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(512,40), 杞撮暱(0.00,110.62), 瑙掑害=101.74掳, 鍦嗗害=1.0000
妞渾 2: 涓績(511,42), 杞撮暱(0.00,81.42), 瑙掑害=74.99掳, 鍦嗗害=1.0000
妞渾 3: 涓績(510,44), 杞撮暱(0.00,53.99), 瑙掑害=49.99掳, 鍦嗗害=1.0000
妞渾 4: 涓績(510,44), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 5: 涓績(266,209), 杞撮暱(0.00,33.20), 瑙掑害=25.50掳, 鍦嗗害=1.0000
妞渾 6: 涓績(399,215), 杞撮暱(0.00,23.61), 瑙掑害=15.84掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(339.30,209.08), 鏍囧噯宸?(114.21,110.94)
鍦嗗績鍋忓樊: dx=19, dy=-31
褰撳墠鑸垫満浣嶇疆: H=598, V=605
[PID璁$畻] 娴嬮噺鍊?19.00, 璇樊=19.00
姣斾緥椤? Kp*error = 0.2*19.00 = 3.80
绉垎椤? Ki*integral = 0.01*-465.00 = -4.65
寰垎椤? Kd*derivative = 0.05*7.28 = 0.36
PID杈撳嚭: u = -0.49
[PID璁$畻] 娴嬮噺鍊?-31.00, 璇樊=-31.00
姣斾緥椤? Kp*error = 0.2*-31.00 = -6.20
绉垎椤? Ki*integral = 0.01*420.00 = 4.20
寰垎椤? Kd*derivative = 0.05*-7.97 = -0.40
PID杈撳嚭: u = -2.40
璁$畻鏂颁綅缃? H=598.15, V=604.18
[鑸垫満璁剧疆] 鍘熷鐩爣: H=598.15, V=604.18
浣嶇疆闄愬埗鐢熸晥: H=598, V=604
璁剧疆鑸垫満浣嶇疆: H=598, V=604, 绉诲姩鏃堕棿=500ms
褰撳墠甯х巼: 21.7 FPS
妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(512,40), 杞撮暱(0.00,110.68), 瑙掑害=101.65掳, 鍦嗗害=1.0000
妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.52), 瑙掑害=75.06掳, 鍦嗗害=1.0000
妞渾 3: 涓績(510,44), 杞撮暱(0.00,54.05), 瑙掑害=49.89掳, 鍦嗗害=1.0000
妞渾 4: 涓績(510,45), 杞撮暱(28.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 5: 涓績(404,214), 杞撮暱(0.00,19.95), 瑙掑害=13.46掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(351.68,196.62), 鏍囧噯宸?(116.76,112.11)
鍦嗗績鍋忓樊: dx=31, dy=-44
褰撳墠鑸垫満浣嶇疆: H=598, V=604
[PID璁$畻] 娴嬮噺鍊?31.00, 璇樊=31.00
姣斾緥椤? Kp*error = 0.2*31.00 = 6.20
绉垎椤? Ki*integral = 0.01*-434.00 = -4.34
寰垎椤? Kd*derivative = 0.05*8.22 = 0.41
PID杈撳嚭: u = 2.27
[PID璁$畻] 娴嬮噺鍊?-44.00, 璇樊=-44.00
姣斾緥椤? Kp*error = 0.2*-44.00 = -8.80
绉垎椤? Ki*integral = 0.01*376.00 = 3.76
寰垎椤? Kd*derivative = 0.05*-8.98 = -0.45
PID杈撳嚭: u = -5.49
璁$畻鏂颁綅缃? H=597.29, V=602.13
[鑸垫満璁剧疆] 鍘熷鐩爣: H=597.29, V=602.13
浣嶇疆闄愬埗鐢熸晥: H=597, V=602
璁剧疆鑸垫満浣嶇疆: H=597, V=602, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(506,31), 杞撮暱(115.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.45), 瑙掑害=75.04掳, 鍦嗗害=1.0000
妞渾 3: 涓績(510,44), 杞撮暱(0.00,54.02), 瑙掑害=49.96掳, 鍦嗗害=1.0000
妞渾 4: 涓績(266,222), 杞撮暱(0.00,28.92), 瑙掑害=12.10掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(359.95,186.91), 鏍囧噯宸?(117.87,111.97)
鍦嗗績鍋忓樊: dx=39, dy=-54
褰撳墠鑸垫満浣嶇疆: H=597, V=602
[PID璁$畻] 娴嬮噺鍊?39.00, 璇樊=39.00
姣斾緥椤? Kp*error = 0.2*39.00 = 7.80
绉垎椤? Ki*integral = 0.01*-395.00 = -3.95
寰垎椤? Kd*derivative = 0.05*8.18 = 0.41
PID杈撳嚭: u = 4.26
[PID璁$畻] 娴嬮噺鍊?-54.00, 璇樊=-54.00
姣斾緥椤? Kp*error = 0.2*-54.00 = -10.80
绉垎椤? Ki*integral = 0.01*322.00 = 3.22
寰垎椤? Kd*derivative = 0.05*-9.18 = -0.46
PID杈撳嚭: u = -8.04
璁$畻鏂颁綅缃? H=595.66, V=599.27
[鑸垫満璁剧疆] 鍘熷鐩爣: H=595.66, V=599.27
浣嶇疆闄愬埗鐢熸晥: H=595, V=599
璁剧疆鑸垫満浣嶇疆: H=595, V=599, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(507,32), 杞撮暱(114.70,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(512,43), 杞撮暱(0.00,81.56), 瑙掑害=75.03掳, 鍦嗗害=1.0000
妞渾 3: 涓績(511,44), 杞撮暱(0.00,54.05), 瑙掑害=49.81掳, 鍦嗗害=1.0000
妞渾 4: 涓績(264,221), 杞撮暱(0.00,31.88), 瑙掑害=12.19掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(368.20,177.24), 鏍囧噯宸?(118.49,111.01)
鍦嗗績鍋忓樊: dx=50, dy=-65
褰撳墠鑸垫満浣嶇疆: H=595, V=599
[PID璁$畻] 娴嬮噺鍊?50.00, 璇樊=50.00
姣斾緥椤? Kp*error = 0.2*50.00 = 10.00
绉垎椤? Ki*integral = 0.01*-345.00 = -3.45
寰垎椤? Kd*derivative = 0.05*8.74 = 0.44
PID杈撳嚭: u = 6.99
[PID璁$畻] 娴嬮噺鍊?-65.00, 璇樊=-65.00
姣斾緥椤? Kp*error = 0.2*-65.00 = -13.00
绉垎椤? Ki*integral = 0.01*257.00 = 2.57
寰垎椤? Kd*derivative = 0.05*-9.55 = -0.48
PID杈撳嚭: u = -10.91
璁$畻鏂颁綅缃? H=592.80, V=595.29
[鑸垫満璁剧疆] 鍘熷鐩爣: H=592.80, V=595.29
浣嶇疆闄愬埗鐢熸晥: H=592, V=595
璁剧疆鑸垫満浣嶇疆: H=592, V=595, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(512,43), 杞撮暱(0.00,81.60), 瑙掑害=75.08掳, 鍦嗗害=1.0000
妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.09), 瑙掑害=49.94掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(373.58,171.58), 鏍囧噯宸?(118.76,110.47)
鍦嗗績鍋忓樊: dx=59, dy=-72
褰撳墠鑸垫満浣嶇疆: H=592, V=595
[PID璁$畻] 娴嬮噺鍊?59.00, 璇樊=59.00
姣斾緥椤? Kp*error = 0.2*59.00 = 11.80
绉垎椤? Ki*integral = 0.01*-286.00 = -2.86
寰垎椤? Kd*derivative = 0.05*8.79 = 0.44
PID杈撳嚭: u = 9.38
[PID璁$畻] 娴嬮噺鍊?-72.00, 璇樊=-72.00
姣斾緥椤? Kp*error = 0.2*-72.00 = -14.40
绉垎椤? Ki*integral = 0.01*185.00 = 1.85
寰垎椤? Kd*derivative = 0.05*-9.04 = -0.45
PID杈撳嚭: u = -13.00
璁$畻鏂颁綅缃? H=589.05, V=590.58
[鑸垫満璁剧疆] 鍘熷鐩爣: H=589.05, V=590.58
浣嶇疆闄愬埗鐢熸晥: H=589, V=590
璁剧疆鑸垫満浣嶇疆: H=589, V=590, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.56), 瑙掑害=75.01掳, 鍦嗗害=1.0000
妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.09), 瑙掑害=49.93掳, 鍦嗗害=1.0000
妞渾 3: 涓績(270,223), 杞撮暱(0.00,24.32), 瑙掑害=11.61掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(379.25,164.90), 鏍囧噯宸?(118.47,108.62)
鍦嗗績鍋忓樊: dx=68, dy=-79
褰撳墠鑸垫満浣嶇疆: H=589, V=590
[PID璁$畻] 娴嬮噺鍊?68.00, 璇樊=68.00
姣斾緥椤? Kp*error = 0.2*68.00 = 13.60
绉垎椤? Ki*integral = 0.01*-218.00 = -2.18
寰垎椤? Kd*derivative = 0.05*8.84 = 0.44
PID杈撳嚭: u = 11.86
[PID璁$畻] 娴嬮噺鍊?-79.00, 璇樊=-79.00
姣斾緥椤? Kp*error = 0.2*-79.00 = -15.80
绉垎椤? Ki*integral = 0.01*106.00 = 1.06
寰垎椤? Kd*derivative = 0.05*-8.63 = -0.43
PID杈撳嚭: u = -15.17
璁$畻鏂颁綅缃? H=585.27, V=584.84
[鑸垫満璁剧疆] 鍘熷鐩爣: H=585.27, V=584.84
浣嶇疆闄愬埗鐢熸晥: H=585, V=584
璁剧疆鑸垫満浣嶇疆: H=585, V=584, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.51), 瑙掑害=75.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.03), 瑙掑害=49.90掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(384.59,159.23), 鏍囧噯宸?(118.27,107.40)
鍦嗗績鍋忓樊: dx=74, dy=-85
褰撳墠鑸垫満浣嶇疆: H=585, V=584
[PID璁$畻] 娴嬮噺鍊?74.00, 璇樊=74.00
姣斾緥椤? Kp*error = 0.2*74.00 = 14.80
绉垎椤? Ki*integral = 0.01*-144.00 = -1.44
寰垎椤? Kd*derivative = 0.05*8.27 = 0.41
PID杈撳嚭: u = 13.77
[PID璁$畻] 娴嬮噺鍊?-85.00, 璇樊=-85.00
姣斾緥椤? Kp*error = 0.2*-85.00 = -17.00
绉垎椤? Ki*integral = 0.01*21.00 = 0.21
寰垎椤? Kd*derivative = 0.05*-8.10 = -0.41
PID杈撳嚭: u = -17.20
璁$畻鏂颁綅缃? H=580.67, V=578.15
[鑸垫満璁剧疆] 鍘熷鐩爣: H=580.67, V=578.15
浣嶇疆闄愬埗鐢熸晥: H=580, V=578
璁剧疆鑸垫満浣嶇疆: H=580, V=578, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(513,40), 杞撮暱(0.00,112.68), 瑙掑害=103.53掳, 鍦嗗害=1.0000
妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.61), 瑙掑害=75.06掳, 鍦嗗害=1.0000
妞渾 3: 涓績(511,45), 杞撮暱(0.00,54.06), 瑙掑害=49.91掳, 鍦嗗害=1.0000
妞渾 4: 涓績(399,216), 杞撮暱(0.00,23.39), 瑙掑害=15.90掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(394.25,149.58), 鏍囧噯宸?(116.48,103.70)
鍦嗗績鍋忓樊: dx=89, dy=-99
褰撳墠鑸垫満浣嶇疆: H=580, V=578
[PID璁$畻] 娴嬮噺鍊?89.00, 璇樊=89.00
姣斾緥椤? Kp*error = 0.2*89.00 = 17.80
绉垎椤? Ki*integral = 0.01*-55.00 = -0.55
寰垎椤? Kd*derivative = 0.05*9.61 = 0.48
PID杈撳嚭: u = 17.73
[PID璁$畻] 娴嬮噺鍊?-99.00, 璇樊=-99.00
姣斾緥椤? Kp*error = 0.2*-99.00 = -19.80
绉垎椤? Ki*integral = 0.01*-78.00 = -0.78
寰垎椤? Kd*derivative = 0.05*-9.28 = -0.46
PID杈撳嚭: u = -21.04
璁$畻鏂颁綅缃? H=574.42, V=570.84
[鑸垫満璁剧疆] 鍘熷鐩爣: H=574.42, V=570.84
浣嶇疆闄愬埗鐢熸晥: H=574, V=570
璁剧疆鑸垫満浣嶇疆: H=574, V=570, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.53), 瑙掑害=75.04掳, 鍦嗗害=1.0000
妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.03), 瑙掑害=49.95掳, 鍦嗗害=1.0000
妞渾 3: 涓績(397,216), 杞撮暱(0.00,25.54), 瑙掑害=16.42掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(401.11,142.84), 鏍囧噯宸?(114.54,100.23)
鍦嗗績鍋忓樊: dx=96, dy=-107
褰撳墠鑸垫満浣嶇疆: H=574, V=570
[PID璁$畻] 娴嬮噺鍊?96.00, 璇樊=96.00
姣斾緥椤? Kp*error = 0.2*96.00 = 19.20
绉垎椤? Ki*integral = 0.01*41.00 = 0.41
寰垎椤? Kd*derivative = 0.05*9.09 = 0.45
PID杈撳嚭: u = 20.06
[PID璁$畻] 娴嬮噺鍊?-107.00, 璇樊=-107.00
姣斾緥椤? Kp*error = 0.2*-107.00 = -21.40
绉垎椤? Ki*integral = 0.01*-185.00 = -1.85
寰垎椤? Kd*derivative = 0.05*-9.03 = -0.45
PID杈撳嚭: u = -23.70
璁$畻鏂颁綅缃? H=567.69, V=561.94
[鑸垫満璁剧疆] 鍘熷鐩爣: H=567.69, V=561.94
浣嶇疆闄愬埗鐢熸晥: H=567, V=561
璁剧疆鑸垫満浣嶇疆: H=567, V=561, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(505,49), 杞撮暱(70.59,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(284,226), 杞撮暱(10.37,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69)
鍦嗗績鍋忓樊: dx=100, dy=-110
褰撳墠鑸垫満浣嶇疆: H=567, V=561
[PID璁$畻] 娴嬮噺鍊?100.00, 璇樊=100.00
姣斾緥椤? Kp*error = 0.2*100.00 = 20.00
绉垎椤? Ki*integral = 0.01*141.00 = 1.41
寰垎椤? Kd*derivative = 0.05*8.07 = 0.40
PID杈撳嚭: u = 21.81
[PID璁$畻] 娴嬮噺鍊?-110.00, 璇樊=-110.00
姣斾緥椤? Kp*error = 0.2*-110.00 = -22.00
绉垎椤? Ki*integral = 0.01*-295.00 = -2.95
寰垎椤? Kd*derivative = 0.05*-7.82 = -0.39
PID杈撳嚭: u = -25.34
璁$畻鏂颁綅缃? H=560.14, V=552.38
[鑸垫満璁剧疆] 鍘熷鐩爣: H=560.14, V=552.38
浣嶇疆闄愬埗鐢熸晥: H=560, V=552
璁剧疆鑸垫満浣嶇疆: H=560, V=552, 绉诲姩鏃堕棿=500ms
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69)
鍦嗗績鍋忓樊: dx=100, dy=-110
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69)
鍦嗗績鍋忓樊: dx=100, dy=-110
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69)
鍦嗗績鍋忓樊: dx=100, dy=-110
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(78,161), 杞撮暱(27.12,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.36,138.46), 鏍囧噯宸?(112.64,97.30)
鍦嗗績鍋忓樊: dx=100, dy=-110
褰撳墠鑸垫満浣嶇疆: H=560, V=552
[PID璁$畻] 娴嬮噺鍊?100.00, 璇樊=100.00
姣斾緥椤? Kp*error = 0.2*100.00 = 20.00
绉垎椤? Ki*integral = 0.01*241.00 = 2.41
寰垎椤? Kd*derivative = 0.05*6.46 = 0.32
PID杈撳嚭: u = 22.73
[PID璁$畻] 娴嬮噺鍊?-110.00, 璇樊=-110.00
姣斾緥椤? Kp*error = 0.2*-110.00 = -22.00
绉垎椤? Ki*integral = 0.01*-405.00 = -4.05
寰垎椤? Kd*derivative = 0.05*-6.26 = -0.31
PID杈撳嚭: u = -26.36
璁$畻鏂颁綅缃? H=552.85, V=543.03
[鑸垫満璁剧疆] 鍘熷鐩爣: H=552.85, V=543.03
浣嶇疆闄愬埗鐢熸晥: H=552, V=543
璁剧疆鑸垫満浣嶇疆: H=552, V=543, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(457,159), 杞撮暱(0.00,122.12), 瑙掑害=116.62掳, 鍦嗗害=1.0000
妞渾 2: 涓績(458,162), 杞撮暱(0.00,100.87), 瑙掑害=95.05掳, 鍦嗗害=1.0000
妞渾 3: 涓績(456,163), 杞撮暱(0.00,74.23), 瑙掑害=71.04掳, 鍦嗗害=1.0000
妞渾 4: 涓績(456,164), 杞撮暱(0.00,49.12), 瑙掑害=47.21掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(409.17,136.41), 鏍囧噯宸?(112.20,96.24)
鍦嗗績鍋忓樊: dx=105, dy=-113
褰撳墠鑸垫満浣嶇疆: H=552, V=543
[PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00
姣斾緥椤? Kp*error = 0.2*105.00 = 21.00
绉垎椤? Ki*integral = 0.01*346.00 = 3.46
寰垎椤? Kd*derivative = 0.05*6.17 = 0.31
PID杈撳嚭: u = 24.77
[PID璁$畻] 娴嬮噺鍊?-113.00, 璇樊=-113.00
姣斾緥椤? Kp*error = 0.2*-113.00 = -22.60
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*-5.61 = -0.28
PID杈撳嚭: u = -27.88
璁$畻鏂颁綅缃? H=544.21, V=533.52
[鑸垫満璁剧疆] 鍘熷鐩爣: H=544.21, V=533.52
浣嶇疆闄愬埗鐢熸晥: H=544, V=533
璁剧疆鑸垫満浣嶇疆: H=544, V=533, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(455,163), 杞撮暱(49.87,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(412.53,134.17), 鏍囧噯宸?(108.43,92.93)
鍦嗗績鍋忓樊: dx=105, dy=-112
褰撳墠鑸垫満浣嶇疆: H=544, V=533
[PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00
姣斾緥椤? Kp*error = 0.2*105.00 = 21.00
绉垎椤? Ki*integral = 0.01*451.00 = 4.51
寰垎椤? Kd*derivative = 0.05*4.93 = 0.25
PID杈撳嚭: u = 25.76
[PID璁$畻] 娴嬮噺鍊?-112.00, 璇樊=-112.00
姣斾緥椤? Kp*error = 0.2*-112.00 = -22.40
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*-4.28 = -0.21
PID杈撳嚭: u = -27.61
璁$畻鏂颁綅缃? H=535.90, V=523.61
[鑸垫満璁剧疆] 鍘熷鐩爣: H=535.90, V=523.61
浣嶇疆闄愬埗鐢熸晥: H=535, V=523
璁剧疆鑸垫満浣嶇疆: H=535, V=523, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(452,163), 杞撮暱(0.00,123.60), 瑙掑害=118.07掳, 鍦嗗害=1.0000
妞渾 2: 涓績(446,164), 杞撮暱(77.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 3: 涓績(448,167), 杞撮暱(69.80,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 4: 涓績(449,168), 杞撮暱(0.00,48.03), 瑙掑害=47.30掳, 鍦嗗害=1.0000
妞渾 5: 涓績(225,343), 杞撮暱(0.00,25.05), 瑙掑害=11.82掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74)
鍦嗗績鍋忓樊: dx=110, dy=-114
褰撳墠鑸垫満浣嶇疆: H=535, V=523
[PID璁$畻] 娴嬮噺鍊?110.00, 璇樊=110.00
姣斾緥椤? Kp*error = 0.2*110.00 = 22.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*4.95 = 0.25
PID杈撳嚭: u = 27.25
[PID璁$畻] 娴嬮噺鍊?-114.00, 璇樊=-114.00
姣斾緥椤? Kp*error = 0.2*-114.00 = -22.80
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*-3.83 = -0.19
PID杈撳嚭: u = -27.99
璁$畻鏂颁綅缃? H=526.43, V=513.48
[鑸垫満璁剧疆] 鍘熷鐩爣: H=526.43, V=513.48
浣嶇疆闄愬埗鐢熸晥: H=526, V=513
璁剧疆鑸垫満浣嶇疆: H=526, V=513, 绉诲姩鏃堕棿=500ms
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74)
鍦嗗績鍋忓樊: dx=110, dy=-114
褰撳墠甯х巼: 16.6 FPS
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74)
鍦嗗績鍋忓樊: dx=110, dy=-114
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74)
鍦嗗績鍋忓樊: dx=110, dy=-114
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74)
鍦嗗績鍋忓樊: dx=110, dy=-114
妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(339,286), 杞撮暱(0.00,117.54), 瑙掑害=114.22掳, 鍦嗗害=1.0000
妞渾 2: 涓績(340,286), 杞撮暱(0.00,95.75), 瑙掑害=93.28掳, 鍦嗗害=1.0000
妞渾 3: 涓績(340,287), 杞撮暱(69.67,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 4: 涓績(340,288), 杞撮暱(46.28,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.44,137.16), 鏍囧噯宸?(103.23,97.77)
鍦嗗績鍋忓樊: dx=107, dy=-108
褰撳墠鑸垫満浣嶇疆: H=526, V=513
[PID璁$畻] 娴嬮噺鍊?107.00, 璇樊=107.00
姣斾緥椤? Kp*error = 0.2*107.00 = 21.40
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*3.36 = 0.17
PID杈撳嚭: u = 26.57
[PID璁$畻] 娴嬮噺鍊?-108.00, 璇樊=-108.00
姣斾緥椤? Kp*error = 0.2*-108.00 = -21.60
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*-1.86 = -0.09
PID杈撳嚭: u = -26.69
璁$畻鏂颁綅缃? H=517.64, V=503.92
[鑸垫満璁剧疆] 鍘熷鐩爣: H=517.64, V=503.92
浣嶇疆闄愬埗鐢熸晥: H=517, V=503
璁剧疆鑸垫満浣嶇疆: H=517, V=503, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(339,285), 杞撮暱(0.00,117.61), 瑙掑害=114.46掳, 鍦嗗害=1.0000
妞渾 2: 涓績(339,285), 杞撮暱(95.05,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 3: 涓績(340,287), 杞撮暱(69.75,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 4: 涓績(340,287), 杞撮暱(46.30,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 5: 涓績(267,450), 杞撮暱(0.00,20.49), 瑙掑害=15.22掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(417.11,143.86), 鏍囧噯宸?(104.45,106.13)
鍦嗗績鍋忓樊: dx=108, dy=-104
褰撳墠鑸垫満浣嶇疆: H=517, V=503
[PID璁$畻] 娴嬮噺鍊?108.00, 璇樊=108.00
姣斾緥椤? Kp*error = 0.2*108.00 = 21.60
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*2.89 = 0.14
PID杈撳嚭: u = 26.74
[PID璁$畻] 娴嬮噺鍊?-104.00, 璇樊=-104.00
姣斾緥椤? Kp*error = 0.2*-104.00 = -20.80
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*-0.69 = -0.03
PID杈撳嚭: u = -25.83
璁$畻鏂颁綅缃? H=508.59, V=494.21
[鑸垫満璁剧疆] 鍘熷鐩爣: H=508.59, V=494.21
浣嶇疆闄愬埗鐢熸晥: H=508, V=494
璁剧疆鑸垫満浣嶇疆: H=508, V=494, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(339,289), 杞撮暱(48.55,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(58,310), 杞撮暱(23.14,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21)
鍦嗗績鍋忓樊: dx=108, dy=-104
褰撳墠鑸垫満浣嶇疆: H=508, V=494
[PID璁$畻] 娴嬮噺鍊?108.00, 璇樊=108.00
姣斾緥椤? Kp*error = 0.2*108.00 = 21.60
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*2.31 = 0.12
PID杈撳嚭: u = 26.72
[PID璁$畻] 娴嬮噺鍊?-104.00, 璇樊=-104.00
姣斾緥椤? Kp*error = 0.2*-104.00 = -20.80
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*-0.55 = -0.03
PID杈撳嚭: u = -25.83
璁$畻鏂颁綅缃? H=499.60, V=485.22
[鑸垫満璁剧疆] 鍘熷鐩爣: H=499.60, V=485.22
浣嶇疆闄愬埗鐢熸晥: H=499, V=485
璁剧疆鑸垫満浣嶇疆: H=499, V=485, 绉诲姩鏃堕棿=500ms
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21)
鍦嗗績鍋忓樊: dx=108, dy=-104
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21)
鍦嗗績鍋忓樊: dx=108, dy=-104
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21)
鍦嗗績鍋忓樊: dx=108, dy=-104
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21)
鍦嗗績鍋忓樊: dx=108, dy=-104
妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(252,376), 杞撮暱(114.40,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(251,380), 杞撮暱(0.00,98.21), 瑙掑害=94.16掳, 鍦嗗害=1.0000
妞渾 3: 涓績(252,380), 杞撮暱(0.00,72.34), 瑙掑害=69.44掳, 鍦嗗害=1.0000
妞渾 4: 涓績(253,380), 杞撮暱(47.04,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(410.78,152.43), 鏍囧噯宸?(113.56,115.74)
鍦嗗績鍋忓樊: dx=105, dy=-97
褰撳墠鑸垫満浣嶇疆: H=499, V=485
[PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00
姣斾緥椤? Kp*error = 0.2*105.00 = 21.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*1.25 = 0.06
PID杈撳嚭: u = 26.06
[PID璁$畻] 娴嬮噺鍊?-97.00, 璇樊=-97.00
姣斾緥椤? Kp*error = 0.2*-97.00 = -19.40
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*0.96 = 0.05
PID杈撳嚭: u = -24.35
璁$畻鏂颁綅缃? H=490.80, V=476.72
[鑸垫満璁剧疆] 鍘熷鐩爣: H=490.80, V=476.72
浣嶇疆闄愬埗鐢熸晥: H=490, V=476
璁剧疆鑸垫満浣嶇疆: H=490, V=476, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(251,378), 杞撮暱(0.00,98.33), 瑙掑害=94.36掳, 鍦嗗害=1.0000
妞渾 2: 涓績(252,378), 杞撮暱(0.00,72.38), 瑙掑害=69.55掳, 鍦嗗害=1.0000
妞渾 3: 涓績(253,378), 杞撮暱(47.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(409.91,156.69), 鏍囧噯宸?(113.28,120.40)
鍦嗗績鍋忓樊: dx=99, dy=-88
褰撳墠鑸垫満浣嶇疆: H=490, V=476
[PID璁$畻] 娴嬮噺鍊?99.00, 璇樊=99.00
姣斾緥椤? Kp*error = 0.2*99.00 = 19.80
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-0.20 = -0.01
PID杈撳嚭: u = 24.79
[PID璁$畻] 娴嬮噺鍊?-88.00, 璇樊=-88.00
姣斾緥椤? Kp*error = 0.2*-88.00 = -17.60
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*2.57 = 0.13
PID杈撳嚭: u = -22.47
璁$畻鏂颁綅缃? H=482.20, V=468.36
[鑸垫満璁剧疆] 鍘熷鐩爣: H=482.20, V=468.36
浣嶇疆闄愬埗鐢熸晥: H=482, V=468
璁剧疆鑸垫満浣嶇疆: H=482, V=468, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(251,377), 杞撮暱(115.45,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(251,380), 杞撮暱(0.00,98.50), 瑙掑害=94.52掳, 鍦嗗害=1.0000
妞渾 3: 涓績(252,381), 杞撮暱(0.00,69.62), 瑙掑害=72.59掳, 鍦嗗害=1.0000
妞渾 4: 涓績(253,381), 杞撮暱(47.19,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(407.97,162.92), 鏍囧噯宸?(114.04,126.54)
鍦嗗績鍋忓樊: dx=91, dy=-79
褰撳墠鑸垫満浣嶇疆: H=482, V=468
[PID璁$畻] 娴嬮噺鍊?91.00, 璇樊=91.00
姣斾緥椤? Kp*error = 0.2*91.00 = 18.20
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-1.76 = -0.09
PID杈撳嚭: u = 23.11
[PID璁$畻] 娴嬮噺鍊?-79.00, 璇樊=-79.00
姣斾緥椤? Kp*error = 0.2*-79.00 = -15.80
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*3.85 = 0.19
PID杈撳嚭: u = -20.61
璁$畻鏂颁綅缃? H=474.73, V=460.99
[鑸垫満璁剧疆] 鍘熷鐩爣: H=474.73, V=460.99
浣嶇疆闄愬埗鐢熸晥: H=474, V=460
璁剧疆鑸垫満浣嶇疆: H=474, V=460, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(250,383), 杞撮暱(0.00,100.64), 瑙掑害=96.10掳, 鍦嗗害=1.0000
妞渾 2: 涓績(252,382), 杞撮暱(93.36,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 3: 涓績(251,383), 杞撮暱(0.00,69.56), 瑙掑害=72.74掳, 鍦嗗害=1.0000
妞渾 4: 涓績(252,383), 杞撮暱(47.23,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.81,166.83), 鏍囧噯宸?(116.35,130.38)
鍦嗗績鍋忓樊: dx=88, dy=-75
褰撳墠鑸垫満浣嶇疆: H=474, V=460
[PID璁$畻] 娴嬮噺鍊?88.00, 璇樊=88.00
姣斾緥椤? Kp*error = 0.2*88.00 = 17.60
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-2.01 = -0.10
PID杈撳嚭: u = 22.50
[PID璁$畻] 娴嬮噺鍊?-75.00, 璇樊=-75.00
姣斾緥椤? Kp*error = 0.2*-75.00 = -15.00
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*3.88 = 0.19
PID杈撳嚭: u = -19.81
璁$畻鏂颁綅缃? H=466.92, V=453.26
[鑸垫満璁剧疆] 鍘熷鐩爣: H=466.92, V=453.26
浣嶇疆闄愬埗鐢熸晥: H=466, V=453
璁剧疆鑸垫満浣嶇疆: H=466, V=453, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(250,383), 杞撮暱(94.50,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(249,385), 杞撮暱(0.00,72.84), 瑙掑害=69.47掳, 鍦嗗害=1.0000
妞渾 3: 涓績(249,385), 杞撮暱(0.00,48.25), 瑙掑害=46.14掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(397.23,177.06), 鏍囧噯宸?(117.99,133.62)
鍦嗗績鍋忓樊: dx=80, dy=-65
褰撳墠鑸垫満浣嶇疆: H=466, V=453
[PID璁$畻] 娴嬮噺鍊?80.00, 璇樊=80.00
姣斾緥椤? Kp*error = 0.2*80.00 = 16.00
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-3.21 = -0.16
PID杈撳嚭: u = 20.84
[PID璁$畻] 娴嬮噺鍊?-65.00, 璇樊=-65.00
姣斾緥椤? Kp*error = 0.2*-65.00 = -13.00
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*5.11 = 0.26
PID杈撳嚭: u = -17.74
璁$畻鏂颁綅缃? H=459.45, V=446.97
[鑸垫満璁剧疆] 鍘熷鐩爣: H=459.45, V=446.97
浣嶇疆闄愬埗鐢熸晥: H=459, V=446
璁剧疆鑸垫満浣嶇疆: H=459, V=446, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(247,384), 杞撮暱(95.49,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(247,387), 杞撮暱(70.80,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 3: 涓績(247,387), 杞撮暱(47.00,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(392.02,185.60), 鏍囧噯宸?(119.03,136.72)
鍦嗗績鍋忓樊: dx=72, dy=-55
褰撳墠鑸垫満浣嶇疆: H=459, V=446
[PID璁$畻] 娴嬮噺鍊?72.00, 璇樊=72.00
姣斾緥椤? Kp*error = 0.2*72.00 = 14.40
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-4.17 = -0.21
PID杈撳嚭: u = 19.19
[PID璁$畻] 娴嬮噺鍊?-55.00, 璇樊=-55.00
姣斾緥椤? Kp*error = 0.2*-55.00 = -11.00
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*6.09 = 0.30
PID杈撳嚭: u = -15.70
璁$畻鏂颁綅缃? H=452.96, V=440.66
[鑸垫満璁剧疆] 鍘熷鐩爣: H=452.96, V=440.66
浣嶇疆闄愬埗鐢熸晥: H=452, V=440
璁剧疆鑸垫満浣嶇疆: H=452, V=440, 绉诲姩鏃堕棿=500ms
妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(243,389), 杞撮暱(97.22,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 2: 涓績(244,391), 杞撮暱(71.78,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
妞渾 3: 涓績(243,390), 杞撮暱(46.88,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000
鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(384.19,196.00), 鏍囧噯宸?(119.96,138.68)
鍦嗗績鍋忓樊: dx=64, dy=-44
褰撳墠鑸垫満浣嶇疆: H=452, V=440
[PID璁$畻] 娴嬮噺鍊?64.00, 璇樊=64.00
姣斾緥椤? Kp*error = 0.2*64.00 = 12.80
绉垎椤? Ki*integral = 0.01*500.00 = 5.00
寰垎椤? Kd*derivative = 0.05*-4.93 = -0.25
PID杈撳嚭: u = 17.55
[PID璁$畻] 娴嬮噺鍊?-44.00, 璇樊=-44.00
姣斾緥椤? Kp*error = 0.2*-44.00 = -8.80
绉垎椤? Ki*integral = 0.01*-500.00 = -5.00
寰垎椤? Kd*derivative = 0.05*7.07 = 0.35
PID杈撳嚭: u = -13.45
璁$畻鏂颁綅缃? H=446.48, V=435.43
[鑸垫満璁剧疆] 鍘熷鐩爣: H=446.48, V=435.43
浣嶇疆闄愬埗鐢熸晥: H=446, V=435
璁剧疆鑸垫満浣嶇疆: H=446, V=435, 绉诲姩鏃堕棿=500ms
根据打印信息调整参数