参考:
Python代码实现PID控制
import matplotlib.pyplot as plt
class Pid():
def __init__(self, exp_val, kp, ki, kd):
self.KP = kp
self.KI = ki
self.KD = kd
self.exp_val = exp_val
self.now_val = 0
self.sum_err = 0
self.now_err = 0
self.last_err = 0
def cmd_pid(self):
self.last_err = self.now_err
self.now_err = self.exp_val - self.now_val
self.sum_err += self.now_err
# 这一块是严格按照公式来写的
self.now_val = self.KP * (self.exp_val - self.now_val) \
+ self.KI * self.sum_err + self.KD * (self.now_err - self.last_err)
print (self.last_err,self.now_err)
return self.now_val
pid_val = []
#对pid进行初始化,目标值是1000 ,p=0.1 ,i=0.15, d=0.1
my_Pid = Pid(1000, 0.2, 0.2, 0.2)
# 然后循环100次把数存进数组中去
for i in range(0, 100):
pid_val.append(my_Pid.cmd_pid())
plt.plot(pid_val)
plt.show()