{"id":188,"date":"2022-12-26T11:10:26","date_gmt":"2022-12-26T03:10:26","guid":{"rendered":"https:\/\/cubeline.xyz\/?p=188"},"modified":"2023-11-15T13:55:35","modified_gmt":"2023-11-15T05:55:35","slug":"pid%e6%8e%a7%e5%88%b6%e7%ae%97%e6%b3%95%e7%9a%84c%e8%af%ad%e8%a8%80%e5%ae%9e%e7%8e%b0","status":"publish","type":"post","link":"https:\/\/turbostudio.xyz\/?p=188","title":{"rendered":"PID\u63a7\u5236\u7b97\u6cd5\u7684C\u8bed\u8a00\u5b9e\u73b0"},"content":{"rendered":"\n

\u5f15\u7528\u81ea:\u539f\u6587\u94fe\u63a5<\/a>(\u539f\u6587\u56fe\u7247\u94fe\u63a5\u5df2\u5931\u6548)<\/p>\n\n\n\n

\u4e00\u3001PID\u7b97\u6cd5\u539f\u7406<\/h4>\n\n\n\n

   \u5728\u5de5\u4e1a\u5e94\u7528\u4e2dPID\u53ca\u5176\u884d\u751f\u7b97\u6cd5\u662f\u5e94\u7528\u6700\u5e7f\u6cdb\u7684\u7b97\u6cd5\u4e4b\u4e00\uff0c\u662f\u5f53\u4e4b\u65e0\u6127\u7684\u4e07\u80fd\u7b97\u6cd5\uff0c\u5982\u679c\u80fd\u591f\u719f\u7ec3\u638c\u63e1PID\u7b97\u6cd5\u7684\u8bbe\u8ba1\u4e0e\u5b9e\u73b0\u8fc7\u7a0b\uff0c\u5bf9\u4e8e\u4e00\u822c\u7684\u7814\u53d1\u4eba\u5458\u6765\u8bb2\uff0c\u5e94\u8be5\u662f\u8db3\u591f\u5e94\u5bf9\u4e00\u822c\u7814\u53d1\u95ee\u9898\u4e86\uff0c\u800c\u96be\u80fd\u53ef\u8d35\u7684\u662f\uff0c\u5728\u6211\u6240\u63a5\u89e6\u7684\u63a7\u5236\u7b97\u6cd5\u5f53\u4e2d\uff0cPID\u63a7\u5236\u7b97\u6cd5\u53c8\u662f\u6700\u7b80\u5355\uff0c\u6700\u80fd\u4f53\u73b0\u53cd\u9988\u601d\u60f3\u7684\u63a7\u5236\u7b97\u6cd5\uff0c\u53ef\u8c13\u7ecf\u5178\u4e2d\u7684\u7ecf\u5178\u3002\u7ecf\u5178\u7684\u672a\u5fc5\u662f\u590d\u6742\u7684\uff0c\u7ecf\u5178\u7684\u4e1c\u897f\u5e38\u5e38\u662f\u7b80\u5355\u7684\uff0c\u800c\u4e14\u662f\u6700\u7b80\u5355\u7684\uff0c\u60f3\u60f3\u725b\u987f\u7684\u529b\u5b66\u4e09\u5927\u5b9a\u5f8b\u5427\uff0c\u60f3\u60f3\u7231\u56e0\u65af\u5766\u7684\u8d28\u80fd\u65b9\u7a0b\u5427\uff0c\u4f55\u7b49\u7684\u7b80\u5355\uff01\u7b80\u5355\u7684\u4e0d\u662f\u539f\u59cb\u7684\uff0c\u7b80\u5355\u7684\u4e5f\u4e0d\u662f\u843d\u540e\u7684\uff0c\u7b80\u5355\u5230\u4e86\u7f8e\u7684\u7a0b\u5ea6\u3002\u5148\u770b\u770bPID\u7b97\u6cd5\u7684\u4e00\u822c\u5f62\u5f0f\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

   PID\u7684\u6d41\u7a0b\u7b80\u5355\u5230\u4e86\u4e0d\u80fd\u518d\u7b80\u5355\u7684\u7a0b\u5ea6\uff0c\u901a\u8fc7\u8bef\u5dee\u4fe1\u53f7\u63a7\u5236\u88ab\u63a7\u91cf\uff0c\u800c\u63a7\u5236\u5668\u672c\u8eab\u5c31\u662f\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u4e09\u4e2a\u73af\u8282\u7684\u52a0\u548c\u3002\u8fd9\u91cc\u6211\u4eec\u89c4\u5b9a\uff08\u5728t\u65f6\u523b\uff09\uff1a<\/p>\n\n\n\n

   1.\u8f93\u5165\u91cf\u4e3arin(t);<\/p>\n\n\n\n

   2.\u8f93\u51fa\u91cf\u4e3arout(t);<\/p>\n\n\n\n

   3.\u504f\u5dee\u91cf\u4e3aerr(t)=rin(t)-rout(t);<\/p>\n\n\n\n

   pid\u7684\u63a7\u5236\u89c4\u5f8b\u4e3a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

   \u7406\u89e3\u4e00\u4e0b\u8fd9\u4e2a\u516c\u5f0f\uff0c\u4e3b\u8981\u4ece\u4e0b\u9762\u51e0\u4e2a\u95ee\u9898\u7740\u624b\uff0c\u4e3a\u4e86\u4fbf\u4e8e\u7406\u89e3\uff0c\u628a\u63a7\u5236\u73af\u5883\u5177\u4f53\u4e00\u4e0b\uff1a<\/p>\n\n\n\n

   1.\u89c4\u5b9a\u8fd9\u4e2a\u6d41\u7a0b\u662f\u7528\u6765\u4e3a\u76f4\u6d41\u7535\u673a\u8c03\u901f\u7684;<\/p>\n\n\n\n

   2.\u8f93\u5165\u91cfrin(t)\u4e3a\u7535\u673a\u8f6c\u901f\u9884\u5b9a\u503c;<\/p>\n\n\n\n

   3.\u8f93\u51fa\u91cfrout(t)\u4e3a\u7535\u673a\u8f6c\u901f\u5b9e\u9645\u503c;<\/p>\n\n\n\n

   4.\u6267\u884c\u5668\u4e3a\u76f4\u6d41\u7535\u673a;<\/p>\n\n\n\n

   5.\u4f20\u611f\u5668\u4e3a\u5149\u7535\u7801\u76d8\uff0c\u5047\u8bbe\u7801\u76d8\u4e3a10\u7ebf;<\/p>\n\n\n\n

   6.\u76f4\u6d41\u7535\u673a\u91c7\u7528PWM\u8c03\u901f \u8f6c\u901f\u7528\u5355\u4f4d \u8f6c\/min \u8868\u793a;<\/p>\n\n\n\n

  \u4e0d\u96be\u770b\u51fa\u4ee5\u4e0b\u7ed3\u8bba\uff1a<\/p>\n\n\n\n

   1.\u8f93\u5165\u91cfrin\uff08t\uff09\u4e3a\u7535\u673a\u8f6c\u901f\u9884\u5b9a\u503c\uff08\u8f6c\/min\uff09;<\/p>\n\n\n\n

   2. \u8f93\u51fa\u91cfrout(t)\u4e3a\u7535\u673a\u8f6c\u901f\u5b9e\u9645\u503c\uff08\u8f6c\/min\uff09;<\/p>\n\n\n\n

   3.\u504f\u5dee\u91cf\u4e3a\u9884\u5b9a\u503c\u548c\u5b9e\u9645\u503c\u4e4b\u5dee\uff08\u8f6c\/min\uff09;<\/p>\n\n\n\n

   \u90a3\u4e48\u4ee5\u4e0b\u51e0\u4e2a\u95ee\u9898\u9700\u8981\u5f04\u6e05\u695a\uff1a<\/p>\n\n\n\n

   1.\u901a\u8fc7PID\u73af\u8282\u4e4b\u540e\u7684U(t)\u662f\u4ec0\u4e48\u503c\u5462\uff1f<\/p>\n\n\n\n

   2.\u63a7\u5236\u6267\u884c\u5668\uff08\u76f4\u6d41\u7535\u673a\uff09\u8f6c\u52a8\u8f6c\u901f\u5e94\u8be5\u4e3a\u7535\u538b\u503c\uff08\u4e5f\u5c31\u662fPWM\u5360\u7a7a\u6bd4\uff09\u3002<\/p>\n\n\n\n

   3.\u90a3\u4e48U(t)\u4e0ePWM\u4e4b\u95f4\u5b58\u5728\u600e\u6837\u7684\u8054\u7cfb\u5462\uff1f<\/p>\n\n\n\n

http:\/\/blog.21ic.com\/user1\/3407\/archives\/2006\/33541.html<\/a>\uff08\u89c1\u9644\u5f551\uff09\u8fd9\u7bc7\u6587\u7ae0\u4e0a\u7ed9\u51fa\u4e86\u4e00\u79cd\u65b9\u6cd5\uff0c\u5373\uff0c\u6bcf\u4e2a\u7535\u538b\u5bf9\u5e94\u4e00\u4e2a\u8f6c\u901f\uff0c\u7535\u538b\u548c\u8f6c\u901f\u4e4b\u95f4\u5448\u73b0\u7ebf\u6027\u5173\u7cfb\u3002\u4f46\u662f\u6211\u8003\u8651\u8fd9\u79cd\u65b9\u6cd5\u7684\u524d\u63d0\u662f\u628a\u76f4\u6d41\u7535\u673a\u7684\u7279\u6027\u7406\u89e3\u4e3a\u7ebf\u6027\u4e86\uff0c\u800c\u5b9e\u9645\u60c5\u51b5\u4e0b\uff0c\u76f4\u6d41\u7535\u673a\u7684\u7279\u6027\u7edd\u5bf9\u4e0d\u662f\u7ebf\u6027\u7684\uff0c\u6216\u8005\u8bf4\u5728\u5c40\u90e8\u4e0a\u662f\u8d8b\u4e8e\u7ebf\u6027\u7684\uff0c\u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48\u8bf4PID\u8c03\u901f\u6709\u4e2a\u8303\u56f4\u7684\u95ee\u9898\u3002\u5177\u4f53\u770b\u4e00\u4e0bhttp:\/\/articles.e-works.net.cn\/component\/article90249.htm\uff08\u89c1\u9644\u5f552\uff09\u8fd9\u7bc7\u6587\u7ae0\u5c31\u53ef\u4ee5\u4e86\u89e3\u4e86\u3002\u6240\u4ee5\u5728\u6b63\u5f0f\u8fdb\u884c\u8c03\u901f\u8bbe\u8ba1\u4e4b\u524d\uff0c\u9700\u8981\u73b0\u6709\u5f00\u73af\u7cfb\u7edf\uff0c\u6d4b\u8bd5\u7535\u673a\u548c\u8f6c\u901f\u4e4b\u95f4\u7684\u7279\u6027\u66f2\u7ebf\uff08\u6216\u8005\u67e5\u9605\u7535\u673a\u7684\u8d44\u6599\u8bf4\u660e\uff09\uff0c\u7136\u540e\u518d\u8fdb\u884c\u95ed\u73af\u53c2\u6570\u6574\u5b9a\u3002\u8fd9\u7bc7\u5148\u5199\u5230\u8fd9\uff0c\u4e0b\u4e00\u7bc7\u8bf4\u660e\u8fde\u7eed\u7cfb\u7edf\u7684\u79bb\u6563\u5316\u95ee\u9898\u3002\u5e76\u6839\u636e\u79bb\u6563\u5316\u540e\u7684\u7279\u70b9\u8bb2\u8ff0\u4f4d\u7f6e\u578bPID\u548c\u589e\u91cf\u578bPID\u7684\u7528\u6cd5\u548cC\u8bed\u8a00\u5b9e\u73b0\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

\u4e8c\u3001PID\u7b97\u6cd5\u7684\u79bb\u6563\u5316<\/h4>\n\n\n\n

   \u4e0a\u4e00\u8282\u4e2d\uff0c\u6211\u8bba\u8ff0\u4e86PID\u7b97\u6cd5\u7684\u57fa\u672c\u5f62\u5f0f\uff0c\u5e76\u5bf9\u5176\u63a7\u5236\u8fc7\u7a0b\u7684\u5b9e\u73b0\u6709\u4e86\u4e00\u4e2a\u7b80\u8981\u7684\u8bf4\u660e\uff0c\u901a\u8fc7\u4e0a\u4e00\u8282\u7684\u603b\u7ed3\uff0c\u57fa\u672c\u5df2\u7ecf\u53ef\u4ee5\u660e\u767dPID\u63a7\u5236\u7684\u8fc7\u7a0b\u3002\u8fd9\u4e00\u8282\u4e2d\u5148\u7ee7\u7eed\u4e0a\u4e00\u8282\u5185\u5bb9\u8865\u5145\u8bf4\u660e\u4e00\u4e0b\u3002<\/p>\n\n\n\n

   1.\u8bf4\u660e\u4e00\u4e0b\u53cd\u9988\u63a7\u5236\u7684\u539f\u7406\uff0c\u901a\u8fc7\u4e0a\u4e00\u8282\u7684\u6846\u56fe\u4e0d\u96be\u770b\u51fa\uff0cPID\u63a7\u5236\u5176\u5b9e\u662f\u5bf9\u504f\u5dee\u7684\u63a7\u5236\u8fc7\u7a0b;<\/p>\n\n\n\n

   2.\u5982\u679c\u504f\u5dee\u4e3a0,\u5219\u6bd4\u4f8b\u73af\u8282\u4e0d\u8d77\u4f5c\u7528\uff0c\u53ea\u6709\u5b58\u5728\u504f\u5dee\u65f6\uff0c\u6bd4\u4f8b\u73af\u8282\u624d\u8d77\u4f5c\u7528\u3002<\/p>\n\n\n\n

   3.\u79ef\u5206\u73af\u8282\u4e3b\u8981\u662f\u7528\u6765\u6d88\u9664\u9759\u5dee\uff0c\u6240\u8c13\u9759\u5dee\uff0c\u5c31\u662f\u7cfb\u7edf\u7a33\u5b9a\u540e\u8f93\u51fa\u503c\u548c\u8bbe\u5b9a\u503c\u4e4b\u95f4\u7684\u5dee\u503c\uff0c\u79ef\u5206\u73af\u8282\u5b9e\u9645\u4e0a\u5c31\u662f\u504f\u5dee\u7d2f\u8ba1\u7684\u8fc7\u7a0b\uff0c\u628a\u7d2f\u8ba1\u7684\u8bef\u5dee\u52a0\u5230\u539f\u6709\u7cfb\u7edf\u4e0a\u4ee5\u62b5\u6d88\u7cfb\u7edf\u9020\u6210\u7684\u9759\u5dee\u3002<\/p>\n\n\n\n

   4.\u800c\u5fae\u5206\u4fe1\u53f7\u5219\u53cd\u5e94\u4e86\u504f\u5dee\u4fe1\u53f7\u7684\u53d8\u5316\u89c4\u5f8b\uff0c\u6216\u8005\u8bf4\u662f\u53d8\u5316\u8d8b\u52bf\uff0c\u6839\u636e\u504f\u5dee\u4fe1\u53f7\u7684\u53d8\u5316\u8d8b\u52bf\u6765\u8fdb\u884c\u8d85\u524d\u8c03\u8282\uff0c\u4ece\u800c\u589e\u52a0\u4e86\u7cfb\u7edf\u7684\u5feb\u901f\u6027\u3002<\/p>\n\n\n\n

   \u597d\u4e86\uff0c\u5173\u4e8ePID\u7684\u57fa\u672c\u8bf4\u660e\u5c31\u8865\u5145\u5230\u8fd9\u91cc\uff0c\u4e0b\u9762\u5c06\u5bf9PID\u8fde\u7eed\u7cfb\u7edf\u79bb\u6563\u5316\uff0c\u4ece\u800c\u65b9\u4fbf\u5728\u5904\u7406\u5668\u4e0a\u5b9e\u73b0\u3002\u4e0b\u9762\u628a\u8fde\u7eed\u72b6\u6001\u7684\u516c\u5f0f\u518d\u8d34\u4e00\u4e0b\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5047\u8bbe\u91c7\u6837\u95f4\u9694\u4e3aT\uff0c\u5219\u5728\u7b2cK\u4e2a T\u65f6\u523b\uff1a<\/p>\n\n\n\n

\u504f\u5deeerr(K)=rin(K)-rout(K);<\/p>\n\n\n\n

\u79ef\u5206\u73af\u8282\u7528\u52a0\u548c\u7684\u5f62\u5f0f\u8868\u793a\uff0c\u5373err(K)+err(K+1)+\u2026\u2026;<\/p>\n\n\n\n

\u5fae\u5206\u73af\u8282\u7528\u659c\u7387\u7684\u5f62\u5f0f\u8868\u793a\uff0c\u5373[err(K)-err(K-1)]\/T;<\/p>\n\n\n\n

\u4ece\u800c\u5f62\u6210\u5982\u4e0bPID\u79bb\u6563\u8868\u793a\u5f62\u5f0f\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

 \u5176\u4e2dT\u4e3a\u91c7\u6837\u65f6\u95f4\uff0cKp\u4e3a\u6bd4\u4f8b\u5e26\uff0cTI\u4e3a\u79ef\u5206\u65f6\u95f4\uff0cTD\u4e3a\u5fae\u5206\u65f6\u95f4\u3002PID\u63a7\u5236\u7684\u57fa\u672c\u539f\u7406\u5c31\u662f\u5982\u6b64\u3002<\/strong><\/p>\n\n\n\n

\u5219u(K)\u53ef\u8868\u793a\u6210\u4e3a\uff1a\u4f4d\u7f6e\u578bPID<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u53ef\u4ee5\u8fd9\u4e48\u7406\u89e3\uff1a\u6bd4\u4f8b\u73af\u8282\u5c06\u8bef\u5dee\u7ebf\u6027\u653e\u5927\uff0c\u79ef\u5206\u73af\u8282\u5c06\u8bef\u5dee\u503c\u7684\u79ef\u5206\u653e\u5927\uff0c\u5fae\u5206\u73af\u8282\u5c06\u4e24\u6b21\u7684\u8bef\u5dee\u503c\u653e\u5927\uff0c\u6240\u6709\u7684\u503c\u76f8\u52a0\u5f97\u5230\u6700\u7ec8\u8f93\u51fa\u503c<\/strong><\/p>\n\n\n\n

\u5728\u4e0d\u65ad\u53d8\u5316\u4e2d\uff0cerr\uff08k\uff09\uff08\u8bbe\u5b9a\u503c\u4e0e\u5b9e\u9645\u8f93\u51fa\u503c\u5dee\u503c\uff09\u4f1a\u964d\u4f4e\u6216\u8005\u5347\u9ad8\uff0c\u4e0d\u65ad\u964d\u4f4e\u65f6\u6bd4\u4f8b\u548c\u5fae\u5206\u73af\u8282\u5bf9\u6700\u7ec8\u7684\u8f93\u51fa\u8d21\u732e\u53d8\u5c11\u800c\u79ef\u5206\u73af\u8282\u56e0\u4e3a\u8bef\u5dee\u503c\u7684\u4e0d\u65ad\u7d2f\u52a0\u8d21\u732e\u6700\u5927\u3002<\/strong><\/p>\n\n\n\n

\u81f3\u4e8e\u8bf4Kp\u3001Ki\u3001Kd\u4e09\u4e2a\u53c2\u6570\u7684\u5177\u4f53\u8868\u8fbe\u5f0f\uff0c\u6211\u60f3\u53ef\u4ee5\u8f7b\u677e\u7684\u63a8\u51fa\u4e86\uff0c\u8fd9\u91cc\u8282\u7701\u65f6\u95f4\uff0c\u4e0d\u518d\u8be6\u7ec6\u8868\u793a\u4e86\u3002<\/p>\n\n\n\n

\u5176\u5b9e\u5230\u8fd9\u91cc\u4e3a\u6b62\uff0cPID\u7684\u57fa\u672c\u79bb\u6563\u8868\u793a\u5f62\u5f0f\u5df2\u7ecf\u51fa\u6765\u4e86\u3002\u76ee\u524d\u7684\u8fd9\u79cd\u8868\u8ff0\u5f62\u5f0f\u5c5e\u4e8e\u4f4d\u7f6e\u578bPID\uff0c\u53e6\u5916\u4e00\u79cd\u8868\u8ff0\u65b9\u5f0f\u4e3a\u589e\u91cf\u5f0fPID\uff0c\u7531\u4e0a\u8ff0\u8868\u8fbe\u5f0f\u53ef\u4ee5\u8f7b\u6613\u5f97\u5230\uff1a\u589e\u91cf\u5f0fPID<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u90a3\u4e48\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u8fd9\u5c31\u662f\u79bb\u6563\u5316PID\u7684\u589e\u91cf\u5f0f\u8868\u793a\u65b9\u5f0f\uff0c\u7531\u516c\u5f0f\u53ef\u4ee5\u770b\u51fa\uff0c\u589e\u91cf\u5f0f\u7684\u8868\u8fbe\u7ed3\u679c\u548c\u6700\u8fd1\u4e09\u6b21\u7684\u504f\u5dee\u6709\u5173\uff0c\u8fd9\u6837\u5c31\u5927\u5927\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027<\/strong>\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\u6700\u7ec8\u7684\u8f93\u51fa\u7ed3\u679c\u5e94\u8be5\u4e3a<\/p>\n\n\n\n

       u(K)+\u589e\u91cf\u8c03\u8282\u503c;<\/strong><\/p>\n\n\n\n

PID\u7684\u79bb\u6563\u5316\u8fc7\u7a0b\u57fa\u672c\u601d\u8def\u5c31\u662f\u8fd9\u6837\uff0c\u4e0b\u9762\u662f\u5c06\u79bb\u6563\u5316\u7684\u516c\u5f0f\u8f6c\u6362\u6210\u4e3aC\u8bed\u8a00\uff0c\u4ece\u800c\u5b9e\u73b0\u5fae\u63a7\u5236\u5668\u7684\u63a7\u5236\u4f5c\u7528\u3002<\/p>\n\n\n\n

\u5f53\u7136\uff0c\u589e\u91cf\u578bPID\u5fc5\u987b\u8bb0\u5f97\u4e00\u70b9\uff0c\u5c31\u662f\u5728\u8bb0\u4f4fU(k)=U(k-1)+\u2206U(k)\u3002<\/p>\n\n\n\n

 PID \u63a7\u5236\u7b97\u6cd5\u53ef\u4ee5\u5206\u4e3a\u4f4d\u7f6e\u5f0f PID \u548c\u589e\u91cf\u5f0f PID \u63a7\u5236\u7b97\u6cd5\u3002\u4e24\u8005\u7684\u533a\u522b<\/a> <\/p>\n\n\n\n

PID \u63a7\u5236\u7b97\u6cd5\u53ef\u4ee5\u5206\u4e3a\u4f4d\u7f6e\u5f0f PID \u548c\u589e\u91cf\u5f0f PID \u63a7\u5236\u7b97\u6cd5\u3002<\/h5>\n\n\n\n

\u4e24\u8005\u7684\u533a\u522b\uff1a<\/p>\n\n\n\n

\uff081\uff09\u4f4d\u7f6e\u5f0fPID\u63a7\u5236\u7684\u8f93\u51fa\u4e0e\u6574\u4e2a\u8fc7\u53bb\u7684\u72b6\u6001\u6709\u5173\uff0c\u7528\u5230\u4e86\u8bef\u5dee\u7684\u7d2f\u52a0\u503c;\u800c\u589e\u91cf\u5f0fPID\u7684\u8f93\u51fa\u53ea\u4e0e\u5f53\u524d\u62cd\u548c\u524d\u4e24\u62cd\u7684\u8bef\u5dee\u6709\u5173\uff0c<\/strong>\u56e0\u6b64\u4f4d\u7f6e\u5f0fPID\u63a7\u5236\u7684\u7d2f\u79ef\u8bef\u5dee\u76f8\u5bf9\u66f4\u5927<\/strong>;<\/p>\n\n\n\n

\uff082\uff09\u589e\u91cf\u5f0fPID\u63a7\u5236\u8f93\u51fa\u7684\u662f\u63a7\u5236\u91cf\u589e\u91cf\uff0c\u5e76\u65e0\u79ef\u5206\u4f5c\u7528<\/strong>\uff0c\u56e0\u6b64\u8be5\u65b9\u6cd5\u9002\u7528\u4e8e\u6267\u884c\u673a\u6784\u5e26\u79ef\u5206\u90e8\u4ef6\u7684\u5bf9\u8c61\uff0c\u5982\u6b65\u8fdb\u7535\u673a\u7b49\uff0c\u800c\u4f4d\u7f6e\u5f0fPID\u9002\u7528\u4e8e\u6267\u884c\u673a\u6784\u4e0d\u5e26\u79ef\u5206\u90e8\u4ef6\u7684\u5bf9\u8c61\uff0c\u5982\u7535\u6db2\u4f3a\u670d\u9600\u3002<\/p>\n\n\n\n

\uff083\uff09\u7531\u4e8e\u589e\u91cf\u5f0fPID\u8f93\u51fa\u7684\u662f\u63a7\u5236\u91cf\u589e\u91cf\uff0c\u5982\u679c\u8ba1\u7b97\u673a\u51fa\u73b0\u6545\u969c\uff0c\u8bef\u52a8\u4f5c\u5f71\u54cd\u8f83\u5c0f\uff0c\u800c\u6267\u884c\u673a\u6784\u672c\u8eab\u6709\u8bb0\u5fc6\u529f\u80fd\uff0c\u53ef\u4ecd\u4fdd\u6301\u539f\u4f4d\uff0c\u4e0d\u4f1a\u4e25\u91cd\u5f71\u54cd\u7cfb\u7edf\u7684\u5de5\u4f5c\uff0c\u800c\u4f4d\u7f6e\u5f0f\u7684\u8f93\u51fa\u76f4\u63a5\u5bf9\u5e94\u5bf9\u8c61\u7684\u8f93\u51fa\uff0c\u56e0\u6b64\u5bf9\u7cfb\u7edf\u5f71\u54cd\u8f83\u5927\u3002<\/p>\n\n\n\n

\u4e09\u3001\u4f4d\u7f6e\u578bPID\u7684C\u8bed\u8a00\u5b9e\u73b0<\/h4>\n\n\n\n

   \u4e0a\u4e00\u8282\u4e2d\u5df2\u7ecf\u62bd\u8c61\u51fa\u4e86\u4f4d\u7f6e\u6027PID\u548c\u589e\u91cf\u578bPID\u7684\u6570\u5b66\u8868\u8fbe\u5f0f\uff0c\u8fd9\u4e00\u8282\uff0c\u91cd\u70b9\u8bb2\u89e3C\u8bed\u8a00\u4ee3\u7801\u7684\u5b9e\u73b0\u8fc7\u7a0b\uff0c\u7b97\u6cd5\u7684C\u8bed\u8a00\u5b9e\u73b0\u8fc7\u7a0b\u5177\u6709\u4e00\u822c\u6027\uff0c\u901a\u8fc7PID\u7b97\u6cd5\u7684C\u8bed\u8a00\u5b9e\u73b0\uff0c\u53ef\u4ee5\u4ee5\u6b64\u7c7b\u63a8\uff0c\u8bbe\u8ba1\u5176\u5b83\u7b97\u6cd5\u7684C\u8bed\u8a00\u5b9e\u73b0\u3002<\/p>\n\n\n\n

   \u7b2c\u4e00\u6b65\uff1a\u5b9a\u4e49PID\u53d8\u91cf\u7ed3\u6784\u4f53\uff0c\u4ee3\u7801\u5982\u4e0b\uff1a<\/p>\n\n\n\n

struct _pid{
    float SetSpeed;            \/\/\u5b9a\u4e49\u8bbe\u5b9a\u503c
    float ActualSpeed;        \/\/\u5b9a\u4e49\u5b9e\u9645\u503c
    float err;                \/\/\u5b9a\u4e49\u504f\u5dee\u503c
    float err_last;            \/\/\u5b9a\u4e49\u4e0a\u4e00\u4e2a\u504f\u5dee\u503c
    float Kp,Ki,Kd;            \/\/\u5b9a\u4e49\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u7cfb\u6570
    float voltage;          \/\/\u5b9a\u4e49\u7535\u538b\u503c\uff08\u63a7\u5236\u6267\u884c\u5668\u7684\u53d8\u91cf\uff09
    float integral;            \/\/\u5b9a\u4e49\u79ef\u5206\u503c
}pid;<\/p>\n\n\n\n

\u63a7\u5236\u7b97\u6cd5\u4e2d\u6240\u9700\u8981\u7528\u5230\u7684\u53c2\u6570\u5728\u4e00\u4e2a\u7ed3\u6784\u4f53\u4e2d\u7edf\u4e00\u5b9a\u4e49\uff0c\u65b9\u4fbf\u540e\u9762\u7684\u4f7f\u7528\u3002<\/p>\n\n\n\n

  \u7b2c\u4e8c\u90e8\uff1a\u521d\u59cb\u5316\u53d8\u91cf\uff0c\u4ee3\u7801\u5982\u4e0b\uff1a<\/p>\n\n\n\n

void PID_init(){
    printf(“PID_init begin \\n”);
    pid.SetSpeed=0.0;
    pid.ActualSpeed=0.0;
    pid.err=0.0;
    pid.err_last=0.0;
    pid.voltage=0.0;
    pid.integral=0.0;
    pid.Kp=0.2;
    pid.Ki=0.015;
    pid.Kd=0.2;
    printf(“PID_init end \\n”);
}<\/p>\n\n\n\n

\u7edf\u4e00\u521d\u59cb\u5316\u53d8\u91cf\uff0c\u5c24\u5176\u662fKp,Ki,Kd\u4e09\u4e2a\u53c2\u6570\uff0c\u8c03\u8bd5\u8fc7\u7a0b\u5f53\u4e2d\uff0c\u5bf9\u4e8e\u8981\u6c42\u7684\u63a7\u5236\u6548\u679c\uff0c\u53ef\u4ee5\u901a\u8fc7\u8c03\u8282\u8fd9\u4e09\u4e2a\u91cf\u76f4\u63a5\u8fdb\u884c\u8c03\u8282\u3002<\/p>\n\n\n\n

\u7b2c\u4e09\u6b65\uff1a\u7f16\u5199\u63a7\u5236\u7b97\u6cd5\uff0c\u4ee3\u7801\u5982\u4e0b\uff1a<\/p>\n\n\n\n

float PID_realize(float speed){
    pid.SetSpeed=speed;
    pid.err=pid.SetSpeed-pid.ActualSpeed;
    pid.integral+=pid.err;
    pid.voltage=pid.Kp*pid.err+pid.Ki*pid.integral+pid.Kd*(pid.err-pid.err_last);
    pid.err_last=pid.err;
    pid.ActualSpeed=pid.voltage*1.0;
    return pid.ActualSpeed;
}<\/p>\n\n\n\n

\u6ce8\u610f\uff1a\u8fd9\u91cc\u7528\u4e86\u6700\u57fa\u672c\u7684\u7b97\u6cd5\u5b9e\u73b0\u5f62\u5f0f\uff0c\u6ca1\u6709\u8003\u8651\u6b7b\u533a\u95ee\u9898\uff0c\u6ca1\u6709\u8bbe\u5b9a\u4e0a\u4e0b\u9650\uff0c\u53ea\u662f\u5bf9\u516c\u5f0f\u7684\u4e00\u79cd\u76f4\u63a5\u7684\u5b9e\u73b0\uff0c\u540e\u9762\u7684\u4ecb\u7ecd\u5f53\u4e2d\u8fd8\u4f1a\u9010\u6e10\u7684\u5bf9\u6b64\u6539\u8fdb\u3002<\/p>\n\n\n\n

   \u5230\u6b64\u4e3a\u6b62\uff0cPID\u7684\u57fa\u672c\u5b9e\u73b0\u90e8\u5206\u5c31\u521d\u6b65\u5b8c\u6210\u4e86\u3002\u4e0b\u9762\u662f\u6d4b\u8bd5\u4ee3\u7801\uff1a<\/p>\n\n\n\n

int main(){
    printf(“System begin \\n”);
    PID_init();
    int count=0;
    while(count<1000)
    {
        float speed=PID_realize(200.0);
        printf(“%f\\n”,speed);
        count++;
    }
return 0;
}<\/p>\n\n\n\n

\u4e0b\u9762\u662f\u7ecf\u8fc71000\u6b21\u7684\u8c03\u8282\u540e\u8f93\u51fa\u76841000\u4e2a\u6570\u636e\uff08\u5177\u4f53\u7684\u53c2\u6570\u6574\u5b9a\u8fc7\u7a0b\u5c31\u4e0d\u8bf4\u660e\u4e86\uff0c\u7f51\u4e0a\u8fd9\u79cd\u8bf4\u660e\u975e\u5e38\u591a\uff09\uff1a\uff08\u7ed3\u679c\u81ea\u884c\u8fd0\u884c\u67e5\u8be2\uff09<\/p>\n\n\n\n

<\/a><\/a><\/p>\n\n\n\n

 1 #include<stdio.h>\n 2 \n 3 struct _pid {\n 4     float SetSpeed;            \/\/\u5b9a\u4e49\u8bbe\u5b9a\u503c\n 5     float ActualSpeed;        \/\/\u5b9a\u4e49\u5b9e\u9645\u503c\n 6     float err;                \/\/\u5b9a\u4e49\u504f\u5dee\u503c\n 7     float err_last;            \/\/\u5b9a\u4e49\u4e0a\u4e00\u4e2a\u504f\u5dee\u503c\n 8     float Kp, Ki, Kd;            \/\/\u5b9a\u4e49\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u7cfb\u6570\n 9     float voltage;          \/\/\u5b9a\u4e49\u7535\u538b\u503c\uff08\u63a7\u5236\u6267\u884c\u5668\u7684\u53d8\u91cf\uff09\n10     float integral;            \/\/\u5b9a\u4e49\u79ef\u5206\u503c\n11 }pid;\n12 \n13 void PID_init() {\n14     printf(\"PID_init begin \\n\");\n15     pid.SetSpeed = 0.0;\n16     pid.ActualSpeed = 0.0;\n17     pid.err = 0.0;\n18     pid.err_last = 0.0;\n19     pid.voltage = 0.0;\n20     pid.integral = 0.0;\n21     pid.Kp = 0.2;\n22     pid.Ki = 0.015;\n23     pid.Kd = 0.2;\n24     printf(\"PID_init end \\n\");\n25 }\n26 \n27 float PID_realize(float speed) {\n28     pid.SetSpeed = speed;\n29     pid.err = pid.SetSpeed - pid.ActualSpeed;\n30     pid.integral += pid.err;\n31     pid.voltage = pid.Kp*pid.err + pid.Ki*pid.integral + pid.Kd*(pid.err - pid.err_last);\n<\/strong>32     pid.err_last = pid.err;\n33     pid.ActualSpeed = pid.voltage*1.0;\n<\/strong>34     return pid.ActualSpeed;\n35 }\n36 \n37 int main() \n38 {\n39     printf(\"System begin \\n\");\n40     PID_init();\n41     int count = 0;\n42     while (count < 1500)\n43     {\n44         float speed = PID_realize(200.0);\n45         printf(\"%f\\n\", speed);\n46         count++;\n47     }\n48     return 0;\n49 }<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
\u56db\u3001\u589e\u91cf\u578bPID\u7684C\u8bed\u8a00\u5b9e\u73b0<\/h4>\n\n\n\n
   \u4e0a\u4e00\u8282\u4e2d\u4ecb\u7ecd\u4e86\u6700\u7b80\u5355\u7684\u4f4d\u7f6e\u578bPID\u7684\u5b9e\u73b0\u624b\u6bb5\uff0c\u8fd9\u4e00\u8282\u4e3b\u8981\u8bb2\u89e3\u589e\u91cf\u5f0fPID\u7684\u5b9e\u73b0\u65b9\u6cd5\uff0c\u4f4d\u7f6e\u578b\u548c\u589e\u91cf\u578bPID\u7684\u6570\u5b66\u516c\u5f0f\u8bf7\u53c2\u89c1\u6211\u7684\u7cfb\u5217\u6587\u300aPID\u63a7\u5236\u7b97\u6cd5\u7684C\u8bed\u8a00\u5b9e\u73b0\u4e8c\u300b\u4e2d\u7684\u8bb2\u89e3\u3002\u5b9e\u73b0\u8fc7\u7a0b\u4ecd\u7136\u662f\u5206\u4e3a\u5b9a\u4e49\u53d8\u91cf\u3001\u521d\u59cb\u5316\u53d8\u91cf\u3001\u5b9e\u73b0\u63a7\u5236\u7b97\u6cd5\u51fd\u6570\u3001\u7b97\u6cd5\u6d4b\u8bd5\u56db\u4e2a\u90e8\u5206\uff0c\u8be6\u7ec6\u5206\u7c7b\u8bf7\u53c2\u52a0\u300aPID\u63a7\u5236\u7b97\u6cd5\u7684C\u8bed\u8a00\u5b9e\u73b0\u4e09\u300b\u4e2d\u7684\u8bb2\u89e3\uff0c\u8fd9\u91cc\u76f4\u63a5\u7ed9\u51fa\u4ee3\u7801\u4e86\u3002<\/p>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
 1 #include<stdio.h>\n 2 #include<stdlib.h>\n 3 \n 4 struct _pid{\n 5     float SetSpeed;            \/\/\u5b9a\u4e49\u8bbe\u5b9a\u503c\n 6     float ActualSpeed;        \/\/\u5b9a\u4e49\u5b9e\u9645\u503c\n 7     float err;                \/\/\u5b9a\u4e49\u504f\u5dee\u503c\n 8     float err_next;            \/\/\u5b9a\u4e49\u4e0a\u4e00\u4e2a\u504f\u5dee\u503c\n 9     float err_last;            \/\/\u5b9a\u4e49\u6700\u4e0a\u524d\u7684\u504f\u5dee\u503c\n10     float Kp,Ki,Kd;            \/\/\u5b9a\u4e49\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u7cfb\u6570\n11 }pid;\n12 \n13 void PID_init(){\n14     pid.SetSpeed=0.0;\n15     pid.ActualSpeed=0.0;\n16     pid.err=0.0;\n17     pid.err_last=0.0;\n18     pid.err_next=0.0;\n19     pid.Kp=0.2;\n20     pid.Ki=0.015;\n21     pid.Kd=0.2;\n22 }\n23 \n24 float PID_realize(float speed){\n25     pid.SetSpeed=speed;\n26     pid.err=pid.SetSpeed-pid.ActualSpeed;\n27     float incrementSpeed=pid.Kp*(pid.err-pid.err_next)+pid.Ki*pid.err+pid.Kd*(pid.err-2*pid.err_next+pid.err_last);\n<\/strong>28     pid.ActualSpeed+=incrementSpeed;\n<\/strong>29     pid.err_last=pid.err_next;\n30     pid.err_next=pid.err;\n31     return pid.ActualSpeed;\n32 }\n33 \n34 int main(){\n35     PID_init();\n36     int count=0;\n37     while(count<1000)\n38     {\n39         float speed=PID_realize(200.0);\n40         printf(\"%f\\n\",speed);\n41         count++;\n42     }\n43     return 0;\n44 }<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
\u8fd0\u884c\u540e\u76841000\u4e2a\u6570\u636e\u4e3a\uff1a(\u7ed3\u679c\u81ea\u884c\u8fd0\u884c\u89c2\u770b)<\/p>\n\n\n\n
\u7ed3\u8bba\uff1a\u4ece\u6700\u7ec8\u6570\u636e\u7684\u7ed3\u679c\u663e\u793a\u6765\u770b\uff0c\u589e\u91cf\u5f0fPID\u6570\u636e\u7684\u7a33\u5b9a\u6027\u8981\u597d\u4e8e\u4f4d\u7f6e\u578bPID\u7684\uff1b<\/strong><\/p>\n\n\n\n
\u4e94\u3001\u79ef\u5206\u5206\u79bb\u7684PID\u63a7\u5236\u7b97\u6cd5C\u8bed\u8a00\u5b9e\u73b0<\/h4>\n\n\n\n
    \u901a\u8fc7\u4e09\u3001\u56db\u4e24\u7bc7\u6587\u7ae0\uff0c\u57fa\u672c\u4e0a\u5df2\u7ecf\u5f04\u6e05\u695a\u4e86PID\u63a7\u5236\u7b97\u6cd5\u7684\u6700\u5e38\u89c4\u7684\u8868\u8fbe\u65b9\u6cd5\u3002\u5728\u666e\u901aPID\u63a7\u5236\u4e2d\uff0c\u5f15\u5165\u79ef\u5206\u73af\u8282\u7684\u76ee\u7684\uff0c\u4e3b\u8981\u662f\u4e3a\u4e86\u6d88\u9664\u9759\u5dee\uff0c\u63d0\u9ad8\u63a7\u5236\u7cbe\u5ea6\u3002\u4f46\u662f\u5728\u542f\u52a8\u3001\u7ed3\u675f\u6216\u5927\u5e45\u5ea6\u589e\u51cf\u8bbe\u5b9a\u65f6\uff0c\u77ed\u65f6\u95f4\u5185\u7cfb\u7edf\u8f93\u51fa\u6709\u5f88\u5927\u7684\u504f\u5dee\uff0c\u4f1a\u9020\u6210PID\u8fd0\u7b97\u7684\u79ef\u5206\u79ef\u7d2f\uff0c\u5bfc\u81f4\u63a7\u5236\u91cf\u8d85\u8fc7\u6267\u884c\u673a\u6784\u53ef\u80fd\u5141\u8bb8\u7684\u6700\u5927\u52a8\u4f5c\u8303\u56f4\u5bf9\u5e94\u6781\u9650\u63a7\u5236\u91cf\uff0c\u4ece\u800c\u5f15\u8d77\u8f83\u5927\u7684\u8d85\u8c03\uff0c\u751a\u81f3\u662f\u9707\u8361\uff0c\u8fd9\u662f\u7edd\u5bf9\u4e0d\u5141\u8bb8\u7684\u3002<\/p>\n\n\n\n
   \u4e3a\u4e86\u514b\u670d\u8fd9\u4e00\u95ee\u9898\uff0c\u5f15\u5165\u4e86\u79ef\u5206\u5206\u79bb\u7684\u6982\u5ff5\uff0c\u5176\u57fa\u672c\u601d\u8def\u662f \u5f53\u88ab\u63a7\u91cf\u4e0e\u8bbe\u5b9a\u503c\u504f\u5dee\u8f83\u5927\u65f6\uff0c\u53d6\u6d88\u79ef\u5206\u4f5c\u7528; \u5f53\u88ab\u63a7\u91cf\u63a5\u8fd1\u7ed9\u5b9a\u503c\u65f6\uff0c\u5f15\u5165\u79ef\u5206\u63a7\u5236\uff0c\u4ee5\u6d88\u9664\u9759\u5dee\uff0c\u63d0\u9ad8\u7cbe\u5ea6\u3002\u5176\u5177\u4f53\u5b9e\u73b0\u4ee3\u7801\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\u5177\u4f53\u7684\u5b9e\u73b0\u6b65\u9aa4\u662f\uff1a\u6839\u636e\u5b9e\u9645\u60c5\u51b5\uff0c\u8bbe\u5b9a\u4e00\u4e2a\u9608\u503c\uff1b\u5f53\u504f\u5dee\u5927\u4e8e\u9608\u503c\u65f6\uff0c\u6d88\u9664\u79ef\u5206\u4ec5\u7528PD\u63a7\u5236\uff1b\u5f53\u504f\u5dee\u5c0f\u4e8e\u7b49\u4e8e\u9608\u503c\u65f6\uff0c\u5f15\u5165\u79ef\u5206\u91c7\u7528PID\u63a7\u5236\u3002\u5219\u63a7\u5236\u7b97\u6cd5\u53ef\u8868\u793a\u4e3a\uff1a<\/strong><\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5176\u4e2d\u03b2\u79f0\u4e3a\u79ef\u5206\u5f00\u5173\u7cfb\u6570\uff0c\u5176\u53d6\u503c\u8303\u56f4\u4e3a\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u3000\u3000\u7531\u4e0a\u8ff0\u8868\u8ff0\u53ca\u516c\u5f0f\u6211\u4eec\u53ef\u4ee5\u77e5\u9053\uff0c\u79ef\u5206\u5206\u79bb\u7b97\u6cd5\u7684\u6548\u679c\u5176\u5b9e\u4e0e\u03b5\u503c\u7684\u9009\u53d6\u6709\u83ab\u5927\u5173\u7cfb\uff0c<\/strong>\u6240\u4ee5\u03b5\u503c\u7684\u9009\u53d6\u5b9e\u9645\u4e0a\u662f\u5b9e\u73b0\u7684\u96be\u70b9\uff0c\u03b5\u503c\u8fc7\u5927\u5219\u8fbe\u4e0d\u5230\u79ef\u5206\u5206\u79bb\u7684\u6548\u679c\uff0c\u800c\u03b5\u503c\u8fc7\u5c0f\u5219\u96be\u4ee5\u8fdb\u5165\u79ef\u5206\u533a\uff0c\u03b5\u503c\u7684\u9009\u53d6\u5b58\u5728\u5f88\u5927\u7684\u4e3b\u89c2\u56e0\u7d20\u3002<\/p>\n\n\n\n
\u3000\u3000\u5bf9\u4e8e\u7ecf\u5178\u7684\u589e\u91cf\u5f0fPID\u7b97\u6cd5\uff0c\u4f3c\u4e4e\u6ca1\u6709\u529e\u6cd5\u7531\u4ee5\u4e0a\u7684\u516c\u5f0f\u63a8\u5bfc\u800c\u6765\uff0c\u56e0\u4e3a\u03b2\u968f\u7740err(k)\u7684\u53d8\u5316\u5728\u4fee\u6539\u7740\u63a7\u5236\u5668\u7684\u8868\u8fbe\u5f0f\u3002\u5176\u5b9e\u6211\u4eec\u53ef\u4ee5\u6362\u4e00\u79cd\u89d2\u5ea6\u8003\u8651\uff0c\u6bcf\u6b21\u7cfb\u7edf\u8c03\u8282\u672a\u5b9a\u540e\uff0c\u504f\u5dee\u5e94\u8be5\u4e3a\u96f6\uff0c\u7136\u540e\u53ea\u6709\u5f53\u8bbe\u5b9a\u503c\u6539\u53d8\u65f6\uff0c\u7cfb\u7edf\u624d\u4f1a\u54cd\u5e94\u800c\u5f00\u59cb\u8c03\u8282\u3002\u8bbe\u5b9a\u503c\u7684\u6539\u53d8\u5b9e\u9645\u4e0a\u662f\u4e00\u4e2a\u9636\u8dc3\u53d8\u5316\uff0c\u6b64\u65f6\u7684\u63a7\u5236\u8f93\u51fa\u8bb0\u4e3aU0\uff0c\u5f00\u59cb\u8c03\u8282\u65f6\uff0c\u5176\u8c03\u8282\u589e\u91cf\u5176\u5b9e\u4e0e\u4e4b\u524d\u7684\u4e00\u5207\u6ca1\u6709\u5173\u7cfb\u3002\u6240\u4ee5\u6211\u4eec\u5c31\u53ef\u4ee5\u4ee5\u53d8\u5316\u65f6\u523b\u5f00\u59cb\u4e3a\u8d77\u70b9\uff0c\u800c\u5f97\u5230\u5e26\u79ef\u5206\u5206\u79bb\u7684\u589e\u91cf\u7b97\u6cd5\uff0c\u4ee5\u4fdd\u8bc1\u5728\u542f\u52a8\u3001\u505c\u6b62\u548c\u5feb\u901f\u53d8\u5316\u65f6\u9632\u6b62\u8d85\u8c03\u3002\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u3000\u3000\u5176\u4e2d\u03b2\u7684\u53d6\u503c\u4e0e\u4f4d\u7f6e\u578bPID\u7b97\u6cd5\u4e00\u81f4\u3002\u53ef\u80fd\u6709\u4eba\u4f1a\u62c5\u5fc3\u504f\u5dee\u6765\u56de\u53d8\u5316\uff0c\u9020\u6210\u79ef\u5206\u4f5c\u7528\u7684\u9891\u7e41\u5206\u79bb\u548c\u5f15\u5165\uff0c\u8fdb\u800c\u4f7f\u4e0a\u8ff0\u7684\u589e\u91cf\u8868\u8fbe\u5f0f\u65e0\u6cd5\u5b9e\u73b0\u3002\u5176\u5b9e\u6211\u4eec\u5206\u6790\u4e00\u4e0b\u5c31\u80fd\u53d1\u73b0\uff0c\u5728\u5f00\u59cb\u65f6\uff0c\u7531\u4e8e\u8bbe\u5b9a\u503c\u53d8\u5316\u5f15\u8d77\u7684\u504f\u5dee\u5927\u800c\u5206\u79bb\u4e86\u79ef\u5206\u4f5c\u7528\uff0c\u5728\u63a5\u8fd1\u8bbe\u5b9a\u503c\u65f6\uff0c\u504f\u5dee\u53d8\u5c0f\u5c31\u5f15\u5165\u4e86\u79ef\u5206\uff0c\u4e00\u8fb9\u6d88\u9664\u9759\u5dee\uff0c\u800c\u540e\u5904\u4e8e\u7a33\u6001\uff0c\u76f4\u5230\u4e0b\u4e00\u6b21\u53d8\u5316\u3002<\/p>\n\n\n\n
\u3000\u3000\u6211\u4eec\u6839\u636e\u524d\u9762\u5bf9\u5176\u57fa\u672c\u601d\u60f3\u7684\u63cf\u8ff0\uff0c\u6765\u5b9e\u73b0\u57fa\u4e8e\u79ef\u5206\u5206\u79bb\u7684PID\u7b97\u6cd5\u5b9e\u73b0\uff0c\u540c\u6837\u662f\u5305\u62ec\u4f4d\u7f6e\u578b\u548c\u589e\u91cf\u578b\u4e24\u79cd\u5b9e\u73b0\u65b9\u5f0f\u3002\u9996\u5148\u6211\u4eec\u6765\u770b\u4e00\u4e0b\u7b97\u6cd5\u7684\u5b9e\u73b0\u8fc7\u7a0b\uff0c\u5177\u4f53\u7684\u6d41\u7a0b\u56fe\u5982\u4e0b\uff1a<\/h6>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u3000\u3000\u6709\u4e0a\u56fe\u6211\u4eec\u77e5\u9053\uff0c\u4e0e\u666e\u901a\u7684PID\u7b97\u6cd5\u7684\u533a\u522b\uff0c\u53ea\u662f\u5224\u65ad\u504f\u5dee\u7684\u5927\u5c0f\uff0c\u504f\u5dee\u5927\u65f6\uff0c\u4e3aPD\u7b97\u6cd5\uff0c\u504f\u5dee\u5c0f\u65f6\u4e3aPID\u7b97\u6cd5\u3002\u4e8e\u662f\u6211\u4eec\u9700\u8981\u4e00\u4e2a\u504f\u5dee\u68c0\u6d4b\u4e0e\u79ef\u5206\u9879\u5206\u79bb\u7cfb\u6570\u03b2\u7684\u51fd\u6570\u3002<\/p>\n\n\n\n
\u79ef\u5206\u5206\u79bb\u7684PID\u63a7\u5236\u7b97\u6cd5\u2014\u2014\u4f4d\u7f6e\u578bPID\u7684\u53d8\u5316<\/h6>\n\n\n\n
 \u7ea2\u8272\u6807\u8bb0\u662f\u76f8\u5bf9\u4e8e\u4f4d\u7f6e\u578bPID\u7684\u4e0d\u540c\u7684\u5730\u65b9<\/strong><\/em><\/p>\n\n\n\n
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 1 #include<stdio.h>\n 2 \n 3 struct _pid {\n 4     float SetSpeed; \/\/\u5b9a\u4e49\u8bbe\u5b9a\u503c\n 5     float ActualSpeed; \/\/\u5b9a\u4e49\u5b9e\u9645\u503c\n 6     float err; \/\/\u5b9a\u4e49\u504f\u5dee\u503c\n 7     float err_last; \/\/\u5b9a\u4e49\u4e0a\u4e00\u4e2a\u504f\u5dee\u503c\n 8     float Kp, Ki, Kd; \/\/\u5b9a\u4e49\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u7cfb\u6570\n 9     float voltage; \/\/\u5b9a\u4e49\u7535\u538b\u503c\uff08\u63a7\u5236\u6267\u884c\u5668\u7684\u53d8\u91cf\uff09\n10     float integral; \/\/\u5b9a\u4e49\u79ef\u5206\u503c\n11 }pid;\n12 \n13 void PID_init() {\n14     printf(\"PID_init begin \\n\");\n15     pid.SetSpeed = 0.0;\n16     pid.ActualSpeed = 0.0;\n17     pid.err = 0.0;\n18     pid.err_last = 0.0;\n19     pid.voltage = 0.0;\n20     pid.integral = 0.0;\n21     pid.Kp = 0.2;\n22     pid.Ki = 0.04; \/\/\u4e4b\u524dKI\u503c\u662f0.015\u6bd4\u4e4b\u524d\u7684\u5927<\/strong>\n23     pid.Kd = 0.2;  \/\/\u521d\u59cb\u5316\u8fc7\u7a0b\n24     printf(\"PID_init end \\n\");\n25 }\n26 \n27 float PID_realize(float speed) {\n28     int index;\n29     pid.SetSpeed = speed;\n30     pid.err = pid.SetSpeed - pid.ActualSpeed;\n31     pid.integral += pid.err;\n32     if (abs(pid.err) > 200)\n<\/strong>33     {\n<\/strong>34         index = 0;\n<\/strong>35     }\n<\/strong>36 \n37     else<\/strong>\n38 \n39     {\n<\/strong>40         index = 1;\n<\/strong>41        \/\/ pid.integral += pid.err;\n<\/strong>42     }\n<\/strong>43     pid.voltage = pid.Kp*pid.err + index * pid.Ki*pid.integral + pid.Kd*(pid.err - pid.err_last);    \/\/\u7b97\u6cd5\u5177\u4f53\u5b9e\u73b0\u8fc7\u7a0b<\/strong>\n44     pid.err_last = pid.err;\n45     pid.ActualSpeed = pid.voltage*1.0;\n46     return pid.ActualSpeed;\n47 }\n48 \n49 int main()\n50 {\n51     printf(\"System begin \\n\");\n52     PID_init();\n53     int count = 0;\n54     while (count < 1500)\n55     {\n56         float speed = PID_realize(200.0);\n57         printf(\"%f\\n\", speed);\n58         count++;\n59     }\n60     return 0;\n61 }<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
\u8fd0\u884c\u540e\u76841000\u4e2a\u6570\u636e\u4e3a\uff1a(\u7ed3\u679c\u81ea\u884c\u8fd0\u884c\u89c2\u770b)<\/p>\n\n\n\n
\u7ed3\u8bba\uff1a\u540c\u6837\u91c7\u96c61000\u4e2a\u91cf\uff0c\u4f1a\u53d1\u73b0\uff0c\u7cfb\u7edf\u5230199\u6240\u6709\u7684\u65f6\u95f4\u662f\u539f\u6765\u65f6\u95f4\u76841\/2,\u7cfb\u7edf\u7684\u5feb\u901f\u6027\u5f97\u5230\u4e86\u63d0\u9ad8\u3002<\/strong><\/p>\n\n\n\n
\u79ef\u5206\u5206\u79bb\u7684PID\u63a7\u5236\u7b97\u6cd5\u2014\u2014\u589e\u91cf\u578bPID\u7684\u53d8\u5316<\/h6>\n\n\n\n
\u65b9\u6cd5\u4e00\uff1a\u6700\u540e\u7ed3\u679c\u5728\u4e24\u4e2a\u6570\u4e4b\u95f4\u6ce2\u52a8\uff08\u6ca1\u641e\u6e05\u4e3a\u4ec0\u4e48\uff09<\/p>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
 1 #include<stdio.h>\n 2 #include<stdint.h>\n 3 #include<math.h>\n 4 #pragma warning(disable : 4305)\n 5 #pragma warning(disable : 4578)\n 6 \n 7 static uint16_t BetaGeneration(float error, float epsilon)\n 8 {\n 9     int beta;\n10     if (abs(error) > epsilon)\n11     {\n12         beta = 0;\n13     }\n14     else\n15     {\n16         beta = 1;\n17 \n18     } \n19 \n20     return beta;\n21 \n22 }\n23 \n24 \n25 \/*\u5b9a\u4e49\u7ed3\u6784\u4f53\u548c\u516c\u7528\u4f53*\/\n26 typedef struct\n27 {\n28     float setpoint; \/\/\u8bbe\u5b9a\u503c\n29     float proportiongain; \/\/\u6bd4\u4f8b\u7cfb\u6570\n30     float integralgain; \/\/\u79ef\u5206\u7cfb\u6570\n31     float derivativegain; \/\/\u5fae\u5206\u7cfb\u6570\n32     float lasterror; \/\/\u524d\u4e00\u62cd\u504f\u5dee\n33     float preerror; \/\/\u524d\u4e24\u62cd\u504f\u5dee\n34     float deadband; \/\/\u6b7b\u533a\n35     float result; \/\/\u8f93\u51fa\u503c\n36     float epsilon; \/\/\u504f\u5dee\u68c0\u6d4b\u9608\u503c\n37 }PID;\n38 \n39 \/\/\u63a5\u4e0b\u6765\u5b9e\u73b0PID\u63a7\u5236\u5668\uff1a\n40 void PIDRegulation(PID *vPID, float processValue)\n41 {\n42     float thisError;\n43     float increment;\n44     float pError, dError, iError;\n45 \n46     thisError = vPID->setpoint - processValue; \/\/\u5f97\u5230\u504f\u5dee\u503c\n47     pError = thisError - vPID->lasterror;\n48     iError = thisError;\n49     dError = thisError - 2 * (vPID->lasterror) + vPID->preerror;\n50     uint16_t beta = BetaGeneration(thisError, vPID->epsilon);\n51 \n52     if (beta > 0)\n53     {\n54         increment = vPID->proportiongain*pError + vPID->derivativegain*dError; \/\/\u589e\u91cf\u8ba1\u7b97\n55     }\n56     else\n57     {\n58         increment = vPID->proportiongain*pError + vPID->integralgain*iError + vPID->derivativegain*dError; \/\/\u589e\u91cf\u8ba1\u7b97\n59     }\n60     vPID->preerror = vPID->lasterror; \/\/\u5b58\u653e\u504f\u5dee\u7528\u4e8e\u4e0b\u6b21\u8fd0\u7b97\n61     vPID->lasterror = thisError;\n62     vPID->result += increment;\n63 }\n64 void PID_init(PID *pid)\n65 {\n66     printf(\"PID_init begin \\n\");\n67     pid->setpoint = 200.0; \/\/\u8bbe\u5b9a\u503c\n68     pid->proportiongain = 0.2; \/\/\u6bd4\u4f8b\u7cfb\u6570\n69     pid->integralgain = 0.35; \/\/\u79ef\u5206\u7cfb\u6570\n70     pid->derivativegain = 0.2; \/\/\u5fae\u5206\u7cfb\u6570\n71     pid->lasterror = 0; \/\/\u524d\u4e00\u62cd\u504f\u5dee\n72     pid->preerror = 0; \/\/\u524d\u4e24\u62cd\u504f\u5dee\n73     pid->deadband; \/\/\u6b7b\u533a\n74     pid->result = 0; \/\/\u8f93\u51fa\u503c\n75     pid->epsilon = 0.1; \/\/\u504f\u5dee\u68c0\u6d4b\u9608\u503c\n76     printf(\"PID_init end \\n\");\n77 }\n78 \n79 int main()\n80 {\n81     printf(\"System begin \\n\");\n82     PID pid1;\n83     PID_init(&pid1);\n84     int cout = 1000;\n85     while (cout)\n86     {\n87         PIDRegulation(&pid1, pid1.result);\n88         printf(\"%f\\n\", pid1.result);\n89         cout--;\n90     }\n91     return 0;\n92 }<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
\u65b9\u6cd5\u4e8c\uff1a<\/p>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
 1 #include<stdio.h>\n 2 #include<stdint.h>\n 3 #include<math.h>\n 4 #pragma warning(disable : 4305)\n 5 #pragma warning(disable : 4578)\n 6 struct _pid {\n 7     float SetSpeed; \/\/\u5b9a\u4e49\u8bbe\u5b9a\u503c\n 8     float ActualSpeed; \/\/\u5b9a\u4e49\u5b9e\u9645\u503c\n 9     float err; \/\/\u5b9a\u4e49\u504f\u5dee\u503c\n10     float err_next; \/\/\u5b9a\u4e49\u4e0a\u4e00\u4e2a\u504f\u5dee\u503c\n11     float err_last; \/\/\u5b9a\u4e49\u6700\u4e0a\u524d\u7684\u504f\u5dee\u503c\n12     float Kp, Ki, Kd; \/\/\u5b9a\u4e49\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u7cfb\u6570\n13 }pid;\n14 \n15 void PID_init() {\n16     pid.SetSpeed = 0.0;\n17     pid.ActualSpeed = 0.0;\n18     pid.err = 0.0;\n19     pid.err_last = 0.0;\n20     pid.err_next = 0.0;\n21     pid.Kp = 0.2;\n22     pid.Ki = 0.015;\n23     pid.Kd = 0.2;\n24 }\n25 \n26 float PID_realize(float speed) \n27 {\n28     int index;\n29     pid.SetSpeed = speed;\n30     pid.err = pid.SetSpeed - pid.ActualSpeed;\n31     if (abs(pid.err) > 200)\n32      {\n33         index = 0;\n34     }\n35      else\n36 \n37      {\n38         index = 1;\n39  \n40      }\n41 \n42     float incrementSpeed = pid.Kp*(pid.err - pid.err_next) + index*pid.Ki*pid.err + pid.Kd*(pid.err - 2 * pid.err_next + pid.err_last);\n43     pid.ActualSpeed += incrementSpeed;\n44     pid.err_last = pid.err_next;\n45     pid.err_next = pid.err;\n46     return pid.ActualSpeed;\n47 }\n48 \n49 int main() {\n50     PID_init();\n51     int count = 0;\n52     while (count < 1000)\n53     {\n54         float speed = PID_realize(200.0);\n55         printf(\"%f\\n\", speed);\n56         count++;\n57     }\n58     return 0;\n59 }<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
\u516d\u3001\u6297\u79ef\u5206\u9971\u548c\u7684PID\u63a7\u5236\u7b97\u6cd5C\u8bed\u8a00\u5b9e\u73b0<\/h4>\n\n\n\n
  \u3000\u3000 \u6240\u8c13\u7684\u79ef\u5206\u9971\u548c\u73b0\u8c61\u662f\u6307\u5982\u679c\u7cfb\u7edf\u5b58\u5728\u4e00\u4e2a\u65b9\u5411\u7684\u504f\u5dee\uff0cPID\u63a7\u5236\u5668\u7684\u8f93\u51fa\u7531\u4e8e\u79ef\u5206\u4f5c\u7528\u7684\u4e0d\u65ad\u7d2f\u52a0\u800c\u52a0\u5927\uff0c\u4ece\u800c\u5bfc\u81f4\u6267\u884c\u673a\u6784\u8fbe\u5230\u6781\u9650\u4f4d\u7f6e\uff08\u5373\u8f6c\u901f\u8fbe\u5230\u6700\u5927\uff09<\/strong>\uff0c\u82e5\u63a7\u5236\u5668\u8f93\u51faU(k)\u7ee7\u7eed\u589e\u5927\uff0c\u6267\u884c\u5668\u5f00\u5ea6\u4e0d\u53ef\u80fd\u518d\u589e\u5927\uff08\u8f6c\u901f\u4e0d\u5728\u5347\u9ad8\uff09<\/strong>\uff0c\u6b64\u65f6\u8ba1\u7b97\u673a\u8f93\u51fa\u63a7\u5236\u91cf\u8d85\u51fa\u4e86\u6b63\u5e38\u8fd0\u884c\u8303\u56f4\u800c\u8fdb\u5165\u9971\u548c\u533a<\/strong>\u3002<\/p>\n\n\n\n
\u3000\u3000\u4e00\u65e6\u7cfb\u7edf\u51fa\u73b0\u53cd\u5411\u504f\u5dee\uff0cu(k)\u9010\u6e10\u4ece\u9971\u548c\u533a\u9000\u51fa\u3002\u8fdb\u5165\u9971\u548c\u533a\u8d8a\u6df1\uff08\u7406\u8bba\u91cc\u6bd4\u5b9e\u9645\u6781\u9650\u8f6c\u901f\u5dee\u503c\u8d8a\u5927\uff09<\/strong>\u5219\u9000\u51fa\u9971\u548c\u533a\u65f6\u95f4\u8d8a\u957f\u3002\u5728\u8fd9\u6bb5\u65f6\u95f4\u91cc\uff0c\u6267\u884c\u673a\u6784\u4ecd\u7136\u505c\u7559\u5728\u6781\u9650\u4f4d\u7f6e\u800c\u4e0d\u968f\u504f\u5dee\u53cd\u5411\u800c\u7acb\u5373\u505a\u51fa\u76f8\u5e94\u7684\u6539\u53d8\uff0c\u8fd9\u65f6\u7cfb\u7edf\u5c31\u50cf\u5931\u63a7\u4e00\u6837\uff0c\u9020\u6210\u63a7\u5236\u6027\u80fd\u6076\u5316\uff0c\u8fd9\u79cd\u73b0\u8c61\u79f0\u4e3a\u79ef\u5206\u9971\u548c\u73b0\u8c61\u6216\u79ef\u5206\u5931\u63a7\u73b0\u8c61\u3002<\/p>\n\n\n\n
    \u9632\u6b62\u79ef\u5206\u9971\u548c\u7684\u65b9\u6cd5\u4e4b\u4e00\u5c31\u662f\u6297\u79ef\u5206\u9971\u548c\u6cd5\uff0c\u8be5\u65b9\u6cd5\u7684\u601d\u8def\u662f\u5728\u8ba1\u7b97u(k)\u65f6\uff0c\u9996\u5148\u5224\u65ad\u4e0a\u4e00\u65f6\u523b\u7684\u63a7\u5236\u91cfu(k-1)\u662f\u5426\u5df2\u7ecf\u8d85\u51fa\u4e86\u6781\u9650\u8303\u56f4\uff1a \u5982\u679cu(k-1)>umax\uff0c\u5219\u53ea\u7d2f\u52a0\u8d1f\u504f\u5dee; \u5982\u679cu(k-1)<umin\uff0c\u5219\u53ea\u7d2f\u52a0\u6b63\u504f\u5dee\u3002\u4ece\u800c\u907f\u514d\u63a7\u5236\u91cf\u957f\u65f6\u95f4\u505c\u7559\u5728\u9971\u548c\u533a\u3002\u76f4\u63a5\u8d34\u51fa\u4ee3\u7801\uff0c\u4e0d\u61c2\u7684\u770b\u770b\u524d\u9762\u51e0\u8282\u7684\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n
\u3000\u3000\u6297\u79ef\u5206\u9971\u548c\u7684\u601d\u60f3\u5f88\u7b80\u5355\uff0c\u89e3\u91ca\u5728\u63a7\u5236\u5668\u8f93\u51fa\u7684\u6700\u5927\u6700\u5c0f\u503c\u9644\u8fd1\u9650\u5236\u79ef\u5206\u7684\u7d2f\u79ef\u60c5\u51b5\uff0c\u4ee5\u9632\u6b62\u5728\u6062\u590d\u65f6\u6ca1\u6709\u54cd\u5e94\u3002\u6839\u636e\u524d\u9762\u5f97\u5206\u7cfb\u6211\u4eec\u53ef\u4ee5\u5f97\u5230\u5982\u4e0b\u7684\u6d41\u7a0b\u56fe\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
 1 #include<stdio.h>\n 2 \n 3 struct _pid {\n 4     float SetSpeed;            \/\/\u5b9a\u4e49\u8bbe\u5b9a\u503c\n 5     float ActualSpeed;        \/\/\u5b9a\u4e49\u5b9e\u9645\u503c\n 6     float err;                \/\/\u5b9a\u4e49\u504f\u5dee\u503c\n 7     float err_last;            \/\/\u5b9a\u4e49\u4e0a\u4e00\u4e2a\u504f\u5dee\u503c\n 8     float Kp, Ki, Kd;            \/\/\u5b9a\u4e49\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u7cfb\u6570\n 9     float voltage;            \/\/\u5b9a\u4e49\u7535\u538b\u503c\uff08\u63a7\u5236\u6267\u884c\u5668\u7684\u53d8\u91cf\uff09\n10     float integral;            \/\/\u5b9a\u4e49\u79ef\u5206\u503c\n11     float umax;\n12     float umin;\n13 }pid;\n14 \n15 void PID_init() {\n16     printf(\"PID_init begin \\n\");\n17     pid.SetSpeed = 0.0;\n18     pid.ActualSpeed = 0.0;\n19     pid.err = 0.0;\n20     pid.err_last = 0.0;\n21     pid.voltage = 0.0;\n22     pid.integral = 0.0;\n23     pid.Kp = 0.2;\n24     pid.Ki = 0.1;       \/\/\u6ce8\u610f\uff0c\u548c\u4e0a\u51e0\u6b21\u76f8\u6bd4\uff0c\u8fd9\u91cc\u52a0\u5927\u4e86\u79ef\u5206\u73af\u8282\u7684\u503c<\/strong>\n25     pid.Kd = 0.2;\n26     pid.umax = 400;\n27     pid.umin = -200;\n28     printf(\"PID_init end \\n\");\n29 }\n30 float PID_realize(float speed) {\n31     int index;\n32     pid.SetSpeed = speed;\n33     pid.err = pid.SetSpeed - pid.ActualSpeed;\n34 \n35     if (pid.ActualSpeed > pid.umax)  \/\/\u7070\u8272\u5e95\u8272\u8868\u793a\u6297\u79ef\u5206\u9971\u548c\u7684\u5b9e\u73b0 \n36     {\n37 \n38         if (abs(pid.err) > 200)      \/\/\u84dd\u8272\u6807\u6ce8\u4e3a\u79ef\u5206\u5206\u79bb\u8fc7\u7a0b\n39         {\n40             index = 0;\n41         }\n42         else {\n43             index = 1;\n44             if (pid.err < 0)\n45             {\n46                 pid.integral += pid.err;\n47             }\n48         }\n49     }\n50     else if (pid.ActualSpeed < pid.umin) {\n51         if (abs(pid.err) > 200)      \/\/\u79ef\u5206\u5206\u79bb\u8fc7\u7a0b\n52         {\n53             index = 0;\n54         }\n55         else {\n56             index = 1;\n57             if (pid.err > 0)\n58             {\n59                 pid.integral += pid.err;\n60             }\n61         }\n62     }\n63     else {\n64         if (abs(pid.err) > 200)                    \/\/\u79ef\u5206\u5206\u79bb\u8fc7\u7a0b\n65         {\n66             index = 0;\n67         }\n68         else {\n69             index = 1;\n70             pid.integral += pid.err;\n71         }\n72     }\n73 \n74     pid.voltage = pid.Kp*pid.err + index * pid.Ki*pid.integral + pid.Kd*(pid.err - pid.err_last);\n75 \n76     pid.err_last = pid.err;\n77     pid.ActualSpeed = pid.voltage*1.0;\n78     return pid.ActualSpeed;\n79 }\n80 \n81 int main()\n82  {\n83     printf(\"System begin \\n\");\n84     PID_init();\n85     int count = 0;\n86     while (count < 1500)\n87     {\n88         float speed = PID_realize(200.0);\n89         printf(\"%f\\n\", speed);\n90         count++;\n91     }\n92     return 0;\n93  }<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
\u603b\u7ed3:<\/strong>\u6240\u8c13\u6297\u79ef\u5206\u9971\u548c\u5c31\u662f\u9632\u6b62\u7531\u4e8e\u957f\u671f\u5b58\u5728\u4e00\u4e2a\u65b9\u5411\u7684\u504f\u5dee\u800c\u5bf9\u76f8\u53cd\u65b9\u5411\u7684\u504f\u5dee\u8fdf\u6ede\u54cd\u5e94\u3002\u672c\u6587\u7684\u65b9\u6cd5\u662f\u5728\u8fbe\u5230\u6781\u503c\u540e\u5c06\u4e0d\u518d\u5bf9\u8fd9\u4e00\u65b9\u5411\u7684\u504f\u5dee\u505a\u51fa\u53cd\u5e94\u76f8\u53cd\u53ea\u5bf9\u53e6\u4e00\u65b9\u5411\u7684\u504f\u5dee\u505a\u51fa\u53cd\u5e94\u3002\u4e8b\u5b9e\u4e0a\u7531\u4e8e\u504f\u5dee\u7684\u5b58\u5728\u6709\u53ef\u80fd\u9020\u6210\u8f93\u51fa\u503c\u8d85\u9650\u7684\u60c5\u51b5\uff0c\u6240\u4ee5\u8fd8\u9700\u8981\u5bf9\u8f93\u51fa\u503c\u4f5c\u51fa\u9650\u5236\u3002<\/p>\n\n\n\n
\u4e03\u3001\u68af\u5f62\u79ef\u5206\u7684PID\u63a7\u5236\u7b97\u6cd5C\u8bed\u8a00\u5b9e\u73b0<\/h4>\n\n\n\n
   \u5148\u770b\u4e00\u4e0b\u68af\u5f62\u7b97\u6cd5\u7684\u79ef\u5206\u73af\u8282\u516c\u5f0f<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
   \u3000 \u4f5c\u4e3aPID\u63a7\u5236\u91cc\u7684\u79ef\u5206\u9879\uff0c\u5176\u4f5c\u7528\u662f\u6d88\u9664\u4f59\u5dee\uff0c\u4e3a\u4e86\u5c3d\u91cf\u51cf\u5c0f\u4f59\u5dee\uff0c\u5e94\u63d0\u9ad8\u79ef\u5206\u9879\u8fd0\u7b97\u7cbe\u5ea6\uff0c\u4e3a\u6b64\u53ef\u4ee5\u5c06\u77e9\u5f62\u79ef\u5206\u6539\u4e3a\u68af\u5f62\u79ef\u5206\uff0c\u5177\u4f53\u5b9e\u73b0\u7684\u8bed\u53e5\u4e3a\uff1a<\/p>\n\n\n\n
\u3000\u3000\u4e8e\u662f\u5982\u679c\u5728\u4f4d\u7f6e\u578bPID\u7b97\u6cd5\u4e2d\u5f15\u5165\u68af\u5f62\u79ef\u5206\u5219\u53ef\u4ee5\u4fee\u6539\u8ba1\u7b97\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u3000\u3000\u540c\u6837\u8981\u5728\u589e\u91cf\u578bPID\u7b97\u6cd5\u4e2d\u5f15\u5165\u68af\u5f62\u79ef\u5206\u5219\u53ef\u4ee5\u4fee\u6539\u8ba1\u7b97\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
pid.voltage=pid.Kp*pid.err+index*pid.Ki*pid.integral\/2+pid.Kd*(pid.err-pid.err_last);  \/\/\u68af\u5f62\u79ef\u5206  \u76f8\u5bf9\u4e8e\u5b9e\u73b0\u516d\u7684pid.voltage\u4ee3\u7801\u53d8\u6362<\/strong><\/p>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
 1 #include<stdio.h>\n 2 \n 3 struct _pid {\n 4     float SetSpeed;            \/\/\u5b9a\u4e49\u8bbe\u5b9a\u503c\n 5     float ActualSpeed;        \/\/\u5b9a\u4e49\u5b9e\u9645\u503c\n 6     float err;                \/\/\u5b9a\u4e49\u504f\u5dee\u503c\n 7     float err_last;            \/\/\u5b9a\u4e49\u4e0a\u4e00\u4e2a\u504f\u5dee\u503c\n 8     float Kp, Ki, Kd;            \/\/\u5b9a\u4e49\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u7cfb\u6570\n 9     float voltage;            \/\/\u5b9a\u4e49\u7535\u538b\u503c\uff08\u63a7\u5236\u6267\u884c\u5668\u7684\u53d8\u91cf\uff09\n10     float integral;            \/\/\u5b9a\u4e49\u79ef\u5206\u503c\n11     float umax;\n12     float umin;\n13 }pid;\n14 \n15 void PID_init() {\n16     printf(\"PID_init begin \\n\");\n17     pid.SetSpeed = 0.0;\n18     pid.ActualSpeed = 0.0;\n19     pid.err = 0.0;\n20     pid.err_last = 0.0;\n21     pid.voltage = 0.0;\n22     pid.integral = 0.0;\n23     pid.Kp = 0.2;\n24     pid.Ki = 0.1;       \/\/\u6ce8\u610f\uff0c\u548c\u4e0a\u51e0\u6b21\u76f8\u6bd4\uff0c\u8fd9\u91cc\u52a0\u5927\u4e86\u79ef\u5206\u73af\u8282\u7684\u503c\n25     pid.Kd = 0.2;\n26     pid.umax = 400;\n27     pid.umin = -200;\n28     printf(\"PID_init end \\n\");\n29 }\n30 float PID_realize(float speed) {\n31     int index;\n32     pid.SetSpeed = speed;\n33     pid.err = pid.SetSpeed - pid.ActualSpeed;\n34 \n35     if (pid.ActualSpeed > pid.umax)  \/\/\u7070\u8272\u5e95\u8272\u8868\u793a\u6297\u79ef\u5206\u9971\u548c\u7684\u5b9e\u73b0\n36     {\n37 \n38         if (abs(pid.err) > 200)      \/\/\u84dd\u8272\u6807\u6ce8\u4e3a\u79ef\u5206\u5206\u79bb\u8fc7\u7a0b\n39         {\n40             index = 0;\n41         }\n42         else {\n43             index = 1;\n44             if (pid.err < 0)\n45             {\n46                 pid.integral += pid.err;\n47             }\n48         }\n49     }\n50     else if (pid.ActualSpeed < pid.umin) {\n51         if (abs(pid.err) > 200)      \/\/\u79ef\u5206\u5206\u79bb\u8fc7\u7a0b\n52         {\n53             index = 0;\n54         }\n55         else {\n56             index = 1;\n57             if (pid.err > 0)\n58             {\n59                 pid.integral += pid.err;\n60             }\n61         }\n62     }\n63     else {\n64         if (abs(pid.err) > 200)                    \/\/\u79ef\u5206\u5206\u79bb\u8fc7\u7a0b\n65         {\n66             index = 0;\n67         }\n68         else {\n69             index = 1;\n70             pid.integral += pid.err;\n71         }\n72     }\n73 \n74     pid.voltage = pid.Kp*pid.err + index * pid.Ki*pid.integral \/ 2 + pid.Kd*(pid.err - pid.err_last);  \/\/\u68af\u5f62\u79ef\u5206\n75 <\/strong>\n76     pid.err_last = pid.err;\n77     pid.ActualSpeed = pid.voltage*1.0;\n78     return pid.ActualSpeed;\n79 }\n80 \n81 int main()\n82  {\n83     printf(\"System begin \\n\");\n84     PID_init();\n85     int count = 0;\n86     while (count < 1500)\n87     {\n88         float speed = PID_realize(200.0);\n89         printf(\"%f\\n\", speed);\n90         count++;\n91     }\n92     return 0;\n93  }<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
\u7ed3\u8bba\u6700\u540e\u8fd0\u7b97\u7684\u7a33\u5b9a\u6570\u636e\u4e3a\uff1a199.999878\uff0c\u8f83\u6559\u7a0b\u516d\u4e2d\u7684199.9999390\u800c\u8a00\uff0c\u7cbe\u5ea6\u8fdb\u4e00\u6b65\u63d0\u9ad8\u3002<\/strong><\/p>\n\n\n\n
\u603b\u7ed3<\/strong>\uff1a\u79ef\u5206\u9879\u7684\u5f15\u5165\u76ee\u7684\u5c31\u662f\u4e3a\u4e86\u6d88\u9664\u7cfb\u7edf\u7684\u4f59\u5dee\uff0c\u90a3\u4e48\u79ef\u5206\u9879\u7684\u8ba1\u7b97\u7cbe\u5ea6\u8d8a\u9ad8\uff0c\u5bf9\u6d88\u9664\u7cfb\u7edf\u7684\u4f59\u5dee\u5c31\u8d8a\u6709\u5229\u3002\u68af\u5f62\u79ef\u5206\u76f8\u8f83\u4e8e\u77e9\u5f62\u79ef\u5206\u5176\u7cbe\u5ea6\u6709\u6bd4\u8f83\u5927\u7684\u63d0\u9ad8\uff0c\u6240\u4ee5\u5bf9\u6d88\u9664\u4f59\u5dee\u4e5f\u5c31\u8d8a\u6709\u6548\u3002<\/p>\n\n\n\n
\u516b\u3001\u53d8\u79ef\u5206\u7684PID\u63a7\u5236\u7b97\u6cd5C\u8bed\u8a00\u5b9e\u73b0<\/h4>\n\n\n\n
   \u53d8\u79ef\u5206PID\u53ef\u4ee5\u770b\u6210\u662f\u79ef\u5206\u5206\u79bb\u7684PID\u7b97\u6cd5\u7684\u66f4\u4e00\u822c\u7684\u5f62\u5f0f\u3002\u5728\u666e\u901a\u7684PID\u63a7\u5236\u7b97\u6cd5\u4e2d\uff0c\u7531\u4e8e\u79ef\u5206\u7cfb\u6570ki\u662f\u5e38\u6570\uff0c\u6240\u4ee5\u5728\u6574\u4e2a\u63a7\u5236\u8fc7\u7a0b\u4e2d\uff0c\u79ef\u5206\u589e\u91cf\u662f\u4e0d\u53d8\u7684\u3002\u4f46\u662f\uff0c\u7cfb\u7edf\u5bf9\u4e8e\u79ef\u5206\u9879\u7684\u8981\u6c42\u662f\uff0c\u7cfb\u7edf\u504f\u5dee\u5927\u65f6\uff0c\u79ef\u5206\u4f5c\u7528\u5e94\u8be5\u51cf\u5f31\u751a\u81f3\u662f\u5168\u65e0\uff0c\u800c\u5728\u504f\u5dee\u5c0f\u65f6\uff0c\u5219\u5e94\u8be5\u52a0\u5f3a\u3002\u79ef\u5206\u7cfb\u6570\u53d6\u5927\u4e86\u4f1a\u4ea7\u751f\u8d85\u8c03\uff0c\u751a\u81f3\u79ef\u5206\u9971\u548c\uff0c\u53d6\u5c0f\u4e86\u53c8\u4e0d\u80fd\u77ed\u65f6\u95f4\u5185\u6d88\u9664\u9759\u5dee\u3002\u56e0\u6b64\uff0c\u6839\u636e\u7cfb\u7edf\u7684\u504f\u5dee\u5927\u5c0f\u6539\u53d8\u79ef\u5206\u901f\u5ea6\u662f\u6709\u5fc5\u8981\u7684\u3002<\/strong><\/p>\n\n\n\n
   \u53d8\u79ef\u5206PID\u7684\u57fa\u672c\u601d\u60f3\u662f\u8bbe\u6cd5\u6539\u53d8\u79ef\u5206\u9879\u7684\u7d2f\u52a0\u901f\u5ea6\uff0c\u4f7f\u5176\u4e0e\u504f\u5dee\u5927\u5c0f\u76f8\u5bf9\u5e94\uff1a\u504f\u5dee\u8d8a\u5927\uff0c\u79ef\u5206\u8d8a\u6162; \u504f\u5dee\u8d8a\u5c0f\uff0c\u79ef\u5206\u8d8a\u5feb\u3002<\/p>\n\n\n\n
\u8bbe\u7f6e\u7cfb\u6570f(e(k))\uff0c\u5b83\u662fe(k)\u7684\u51fd\u6570\u3002\u5f53\u2223e(k)\u2223\u589e\u5927\u65f6\uff0cf\u51cf\u5c0f\uff0c\u53cd\u4e4b\u589e\u5927\u3002\u53d8\u901f\u79ef\u5206\u7684PID\u79ef\u5206\u9879\u8868\u8fbe\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
 \u7cfb\u6570f\u4e0e\u504f\u5dee\u5f53\u524d\u503c\u2223e(k)\u2223\u7684\u5173\u7cfb\u53ef\u4ee5\u662f\u7ebf\u6027\u7684\u6216\u662f\u975e\u7ebf\u6027\u7684\uff0c\u4f8b\u5982\uff0c\u53ef\u8bbe\u4e3a\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u7531\u4ee5\u4e0a\u516c\u5f0f\u53ef\u77e5\uff0cf(err(k))\u7684\u503c\u5728[0,1]\u533a\u95f4\u53d8\u5316\uff0c\u5f53\u504f\u5dee\u503c|err(k)|\u5927\u4e8e\u5206\u79bb\u533a\u95f4A+B\u65f6\uff0c\u4e0d\u5bf9\u5f53\u524d\u504f\u5deeerr(k)\u8fdb\u884c\u7d2f\u52a0\uff1b\u5f53\u504f\u5dee\u503c|err(k)|\u5c0f\u4e8eB\u65f6\uff0c\u52a0\u5165\u5f53\u524d\u504f\u5deeerr(k)\u8fdb\u884c\u7d2f\u52a0\uff1b\u4ecb\u4e8eB\u548cA+B\u7684\u533a\u95f4\u65f6\uff0c\u6309\u4e00\u5b9a\u51fd\u6570\u5173\u7cfb\u968ferr(k)\u53d8\u5316\u3002\u4e8e\u662f\u53d8\u79ef\u5206PID\u7b97\u6cd5\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a<\/a><\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
        \u4e0a\u8ff0\u7684f(err(k))\u51fd\u6570\u53ea\u662f\u6211\u4eec\u5217\u4e3e\u7684\u4e00\u79cd\uff0c\u4e8b\u5b9e\u4e0a\u53ef\u4ee5\u91c7\u53d6\u4efb\u4f55\u53ef\u884c\u7684\u65b9\u5f0f\uff0c\u751a\u81f3\u662f\u975e\u7ebf\u6027\u51fd\u6570\uff0c\u53ea\u8981\u66f4\u7b26\u5408\u63a7\u5236\u5bf9\u8c61\u7684\u7279\u6027\u3002<\/p>\n\n\n\n
        \u5bf9\u4e8e\u7528\u589e\u91cf\u578bPID\u7b97\u6cd5\u7684\u53d8\u79ef\u5206\u8868\u793a\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
        \u770b\u5230\u8fd9\u4e2a\u516c\u5f0f\uff0c\u5f88\u591a\u4eba\u53ef\u80fd\u4f1a\u53d1\u89c9\u4e0e\u524d\u9762\u7684\u79ef\u5206\u5206\u79bb\u7b97\u6cd5\u7684\u516c\u5f0f\u5f88\u8c61\u3002\u7279\u522b\u662f\u5728\u589e\u91cf\u578b\u7b97\u6cd5\u4e2d\uff0c\u5b83\u4eec\u7684\u5f62\u5f0f\u786e\u5b9e\u662f\u4e00\u6837\u7684\uff0c\u4f46\u8868\u8fbe\u7684\u610f\u601d\u786e\u662f\u6709\u4e00\u5b9a\u533a\u522b\uff0c\u90a3\u4e48\u6211\u4eec\u6765\u770b\u770b\u6709\u4ec0\u4e48\u4e0d\u540c\u5462\uff1f\u5728\u540e\u9762\u6211\u4eec\u518d\u4f5c\u603b\u7ed3\u3002<\/p>\n\n\n\n
\u3000\u3000\u53d8\u79ef\u5206\u5b9e\u9645\u4e0a\u662f\u901a\u8fc7\u5bf9\u504f\u5dee\u7684\u5224\u65ad\uff0c\u8ba9\u79ef\u5206\u4ee5\u4e0d\u540c\u7684\u901f\u5ea6\u7d2f\u8ba1\u3002\u8fd9\u4e00\u7cfb\u6570\u4ecb\u4e8e0-1\u4e4b\u95f4\uff0c\u53ef\u4ee5\u901a\u8fc7\u591a\u79cd\u65b9\u5f0f\u5b9e\u73b0\uff0c\u5728\u8fd9\u91cc\u6211\u4eec\u6309\u7ebf\u6027\u65b9\u5f0f\u5b9e\u73b0\u3002\u53d8\u79ef\u5206\u7684\u63a7\u5236\u6d41\u7a0b\u56fe\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
  \u8fd9\u91cc\u7ed9\u79ef\u5206\u7cfb\u6570\u524d\u52a0\u4e0a\u4e00\u4e2a\u6bd4\u4f8b\u503cindex\uff1a<\/p>\n\n\n\n
  \u5f53abs(err)<180\u65f6\uff0cindex=1;<\/p>\n\n\n\n
   \u5f53180<abs(err)<200\u65f6\uff0cindex=\uff08200-abs(err)\uff09\/20;<\/p>\n\n\n\n
   \u5f53abs(err)>200\u65f6\uff0cindex=0;<\/p>\n\n\n\n
   \u6700\u7ec8\u7684\u6bd4\u4f8b\u73af\u8282\u7684\u6bd4\u4f8b\u7cfb\u6570\u503c\u4e3aki*index;<\/p>\n\n\n\n
   \u5177\u4f53PID\u5b9e\u73b0\u4ee3\u7801\u5982\u4e0b\uff1a\u518d\u5b9e\u73b0\u4e09\u7684\u57fa\u7840\u4e0a\u6539\u52a8<\/p>\n\n\n\n
    pid.Kp=0.4;
    pid.Ki=0.2;    \/\/\u589e\u52a0\u4e86\u79ef\u5206\u7cfb\u6570
    pid.Kd=0.2;<\/p>\n\n\n\n
   float PID_realize(float speed){
    float index;
    pid.SetSpeed=speed;
    pid.err=pid.SetSpeed-pid.ActualSpeed;

    if(abs(pid.err)>200)           \/\/\u53d8\u79ef\u5206\u8fc7\u7a0b
    {
    index=0.0;
    }else if(abs(pid.err)<180){
    index=1.0;
    pid.integral+=pid.err;
    }else{
    index=(200-abs(pid.err))\/20;
    pid.integral+=pid.err;
    }
    pid.voltage=pid.Kp*pid.err+index*pid.Ki*pid.integral+pid.Kd*(pid.err-pid.err_last);

    pid.err_last=pid.err;
    pid.ActualSpeed=pid.voltage*1.0;
    return pid.ActualSpeed;
}<\/p>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
 1 #include<stdio.h>\n 2 \n 3 struct _pid {\n 4     float SetSpeed; \/\/\u5b9a\u4e49\u8bbe\u5b9a\u503c\n 5     float ActualSpeed; \/\/\u5b9a\u4e49\u5b9e\u9645\u503c\n 6     float err; \/\/\u5b9a\u4e49\u504f\u5dee\u503c\n 7     float err_last; \/\/\u5b9a\u4e49\u4e0a\u4e00\u4e2a\u504f\u5dee\u503c\n 8     float Kp, Ki, Kd; \/\/\u5b9a\u4e49\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u7cfb\u6570\n 9     float voltage; \/\/\u5b9a\u4e49\u7535\u538b\u503c\uff08\u63a7\u5236\u6267\u884c\u5668\u7684\u53d8\u91cf\uff09\n10     float integral; \/\/\u5b9a\u4e49\u79ef\u5206\u503c\n11 }pid;\n12 \n13 void PID_init() {\n14     printf(\"PID_init begin \\n\");\n15     pid.SetSpeed = 0.0;\n16     pid.ActualSpeed = 0.0;\n17     pid.err = 0.0;\n18     pid.err_last = 0.0;\n19     pid.voltage = 0.0;\n20     pid.integral = 0.0;\n21     pid.Kp = 0.4;\n22     pid.Ki = 0.2;    \/\/\u589e\u52a0\u4e86\u79ef\u5206\u7cfb\u6570\n23     pid.Kd = 0.2;\n24     printf(\"PID_init end \\n\");\n25 }\n26 \n27 float PID_realize(float speed) {\n28     float index;\n29     pid.SetSpeed = speed;\n30     pid.err = pid.SetSpeed - pid.ActualSpeed;\n31 \n32     if (abs(pid.err) > 200)           \/\/\u53d8\u79ef\u5206\u8fc7\u7a0b\n33     {\n34         index = 0.0;\n35     }\n36     else if (abs(pid.err) < 180) {\n37         index = 1.0;\n38         pid.integral += pid.err;\n39     }\n40     else {\n41         index = (200 - abs(pid.err)) \/ 20;\n42         pid.integral += pid.err;\n43     }\n44     pid.voltage = pid.Kp*pid.err + index * pid.Ki*pid.integral + pid.Kd*(pid.err - pid.err_last);\n45 \n46     pid.err_last = pid.err;\n47     pid.ActualSpeed = pid.voltage*1.0;\n48     return pid.ActualSpeed;\n49 }\n50 \n51 int main()\n52 {\n53     printf(\"System begin \\n\");\n54     PID_init();\n55     int count = 0;\n56     while (count < 1500)\n57     {\n58         float speed = PID_realize(200.0);\n59         printf(\"%f\\n\", speed);\n60         count++;\n61     }\n62     return 0;\n63 }<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
\u4ee3\u7801\u7ed3\u679c\u81ea\u884c\u8fd0\u884c<\/p>\n\n\n\n
\u6700\u7ec8\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u7cfb\u7edf\u7684\u7a33\u5b9a\u901f\u5ea6\u975e\u5e38\u5feb<\/strong>\uff08\u6d4b\u8bd5\u7a0b\u5e8f\u53c2\u89c1\u672c\u7cfb\u5217\u6559\u7a0b3\uff09<\/p>\n\n\n\n
\u603b\u7ed3:<\/p>\n\n\n\n
        \u53d8\u79ef\u5206\u5b9e\u9645\u4e0a\u6709\u4e00\u5b9a\u7684\u4e13\u5bb6\u7ecf\u9a8c\u5728\u91cc\u9762\uff0c\u56e0\u4e3a\u9650\u503c\u7684\u9009\u53d6\u4ee5\u53ca\u91c7\u7528\u4ec0\u4e48\u6837\u7684\u51fd\u6570\u8ba1\u7b97\u7cfb\u6570\uff0c\u6709\u5f88\u5927\u7684\u7075\u6d3b\u6027\u3002<\/p>\n\n\n\n
        \u6211\u4eec\u5728\u524d\u9762\u505a\u4e86\u79ef\u5206\u5206\u79bb\u7684\u7b97\u6cd5\uff0c\u8fd9\u6b21\u53c8\u8bf4\u4e86\u53d8\u79ef\u5206\u7684\u7b97\u6cd5\u3002\u4ed6\u4eec\u6709\u76f8\u901a\u7684\u5730\u65b9\uff0c\u4e5f\u6709\u4e0d\u540c\u7684\u5730\u65b9\uff0c\u4e0b\u9762\u5bf9\u4ed6\u4eec\u8fdb\u884c\u4e00\u4e9b\u8bf4\u660e\u3002<\/p>\n\n\n\n
        \u9996\u5148\u8fd9\u4e24\u79cd\u7b97\u6cd5\u7684\u8bbe\u8ba1\u601d\u60f3\u662f\u6709\u533a\u522b\u7684\u3002\u79ef\u5206\u5206\u79bb\u7684\u601d\u60f3\u662f\u504f\u5dee\u8f83\u5927\u65f6\uff0c\u53d6\u6d88\u79ef\u5206\uff1b\u800c\u504f\u5dee\u8f83\u5c0f\u65f6\u5f15\u5165\u79ef\u5206\u3002\u53d8\u79ef\u5206\u7684\u5b9e\u73b0\u662f\u60f3\u662f\u8bbe\u6cd5\u6539\u53d8\u79ef\u5206\u9879\u7684\u7d2f\u52a0\u901f\u5ea6\uff0c\u504f\u5dee\u5927\u65f6\u51cf\u5f31\u79ef\u5206\uff1b\u800c\u504f\u5dee\u5c0f\u65f6\u5f3a\u5316\u79ef\u5206\u3002\u6709\u4e9b\u6240\u8c13\u6539\u8fdb\u578b\u7684\u79ef\u5206\u5206\u79bb\u7b97\u6cd5\u5b9e\u9645\u5df2\u7ecf\u8131\u79bb\u4e86\u79ef\u5206\u5206\u79bb\u7684\u57fa\u672c\u601d\u60f3\uff0c\u800c\u662f\u52a8\u6001\u6539\u53d8\u79ef\u5206\u7cfb\u6570\u3002\u5c31\u8fd9\u4e00\u70b9\u800c\u8a00\uff0c\u7279\u522b\u662f\u5728\u589e\u91cf\u578b\u7b97\u6cd5\u4e2d\uff0c\u5df2\u7ecf\u5c5e\u4e8e\u53d8\u79ef\u5206\u7684\u601d\u60f3\u4e86\u3002<\/p>\n\n\n\n
        \u5176\u6b21\uff0c\u5bf9\u4e8e\u79ef\u5206\u5206\u79bb\u6765\u8bf4\uff0c\u8be5\u64cd\u4f5c\u662f\u9488\u5bf9\u6574\u4e2a\u79ef\u5206\u9879\u64cd\u4f5c\uff0c\u8fd9\u4e00\u70b9\u5728\u4f4d\u7f6e\u578bPID\u7b97\u6cd5\u4e2d\uff0c\u8868\u73b0\u7684\u5c24\u4e3a\u660e\u663e\u3002\u800c\u5bf9\u4e8e\u53d8\u79ef\u5206\u6765\u8bf4\uff0c\u662f\u9488\u5bf9\u5f53\u524d\u504f\u5dee\u7684\u79ef\u5206\u7d2f\u8ba1\uff0c\u5c31\u662f\u8bf4\u53ea\u5f71\u54cd\u5f53\u524d\u8fd9\u6b21\u7684\u79ef\u5206\u90e8\u5206\u3002\u518d\u8005\uff0c\u5177\u4f53\u7684\u5b9e\u73b0\u65b9\u5f0f\u4e5f\u5b58\u5728\u533a\u522b\uff0c\u7279\u522b\u662f\u5728\u4f4d\u7f6e\u578bPID\u65b9\u5f0f\u4e0b\u5c24\u4e3a\u660e\u663e\u3002<\/p>\n\n\n\n
        \u6211\u4eec\u5728\u8fd9\u91cc\u8ba8\u8bba\u5b83\u4eec\u7684\u533a\u522b\u539f\u56e0\uff0c\u4f77\u663e\u7136\u5c31\u662f\u6211\u4eec\u6ca1\u529e\u6cd5\u540c\u65f6\u91c7\u7528\u8fd9\u4e24\u79cd\u4f18\u5316\u65b9\u5f0f\uff0c\u53ea\u80fd\u5206\u522b\u5b9e\u73b0\uff0c\u5728\u540e\u9762\u6211\u4eec\u5c06\u5b9e\u73b0\u57fa\u4e8e\u79ef\u5206\u9879\u7684\u4f18\u5316\u3002<\/p>\n\n\n\n
\u4e5d\u3001\u51e0\u79cd\u4e0d\u540c\u7b97\u6cd5\u5b9e\u73b0\u65b9\u5f0f<\/h4>\n\n\n\n
\uff081\uff09\u5fae\u5206\u5148\u884cPID\u63a7\u5236\u7b97\u6cd5 <\/p>\n\n\n\n
\u5fae\u5206\u5148\u884cPID\u63a7\u5236\u7684\u7279\u70b9\u662f\u53ea\u5bf9\u8f93\u51fa\u91cfyout(k)\u8fdb\u884c\u5fae\u5206\uff0c\u800c\u5bf9\u7ed9\u5b9a\u503crin(k)\u4e0d\u8fdb\u884c\u5fae\u5206\u3002\u8fd9\u6837\uff0c\u5728\u6539\u53d8\u7ed9\u5b9a\u503c\u65f6\uff0c\u8f93\u51fa\u4e0d\u4f1a\u6539\u53d8\uff0c\u800c\u88ab\u63a7\u91cf\u7684\u53d8\u5316\u901a\u5e38\u662f\u6bd4\u8f83\u7f13\u548c\u7684\u3002\u8fd9\u79cd\u8f93\u51fa\u91cf\u5148\u884c\u5fae\u5206\u63a7\u5236\u9002\u7528\u4e8e\u7ed9\u5b9a\u503crin(k)\u9891\u7e41\u5347\u964d\u7684\u573a\u5408\uff0c\u53ef\u4ee5\u907f\u514d\u7ed9\u5b9a\u503c\u5347\u964d\u65f6\u5f15\u8d77\u7cfb\u7edf\u632f\u8361\uff0c\u4ece\u800c\u660e\u663e\u5730\u6539\u5584\u4e86\u7cfb\u7edf\u7684\u52a8\u6001\u7279\u6027 <\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\uff082\uff09\u4e0d\u5b8c\u5168\u5fae\u5206PID\u63a7\u5236\u7b97\u6cd5<\/p>\n\n\n\n
    \u5728PID\u63a7\u5236\u4e2d\uff0c\u5fae\u5206\u4fe1\u53f7\u7684\u5f15\u5165\u53ef\u6539\u5584\u7cfb\u7edf\u7684\u52a8\u6001\u7279\u6027\uff0c\u4f46\u4e5f\u6613\u5f15\u8fdb\u9ad8\u9891\u5e72\u6270\uff0c\u5728\u8bef\u5dee\u6270\u52a8\u7a81\u53d8\u65f6\u5c24\u5176\u663e\u51fa\u5fae\u5206\u9879\u7684\u4e0d\u8db3\u3002\u82e5\u5728\u63a7\u5236\u7b97\u6cd5\u4e2d\u52a0\u5165\u4f4e\u901a\u6ee4\u6ce2\u5668\uff0c\u5219\u53ef\u4f7f\u7cfb\u7edf\u6027\u80fd\u5f97\u5230\u6539\u5584   \u4e0d\u5b8c\u5168\u5fae\u5206PID\u7684\u7ed3\u6784\u5982\u4e0b\u56fe\u3002\u5de6\u56fe\u5c06\u4f4e\u901a\u6ee4\u6ce2\u5668\u76f4\u63a5\u52a0\u5728\u5fae\u5206\u73af\u8282\u4e0a\uff0c\u53f3\u56fe\u662f\u5c06\u4f4e\u901a\u6ee4\u6ce2\u5668\u52a0\u5728\u6574\u4e2aPID\u63a7\u5236\u5668\u4e4b\u540e <\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\uff083\uff09\u5e26\u6b7b\u533a\u7684PID\u63a7\u5236\u7b97\u6cd5<\/p>\n\n\n\n
\u5728\u8ba1\u7b97\u673a\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0c\u67d0\u4e9b\u7cfb\u7edf\u4e3a\u4e86\u907f\u514d\u63a7\u5236\u4f5c\u7528\u8fc7\u4e8e\u9891\u7e41\uff0c\u6d88\u9664\u7531\u4e8e\u9891\u7e41\u52a8\u4f5c\u6240\u5f15\u8d77\u7684\u632f\u8361\uff0c\u53ef\u91c7\u7528\u5e26\u6b7b\u533a\u7684PID\u63a7\u5236\u7b97\u6cd5\uff0c\u63a7\u5236\u7b97\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5f0f\u4e2d\uff0ce(k)\u4e3a\u4f4d\u7f6e\u8ddf\u8e2a\u504f\u5dee\uff0ce0\u662f\u4e00\u4e2a\u53ef\u8c03\u53c2\u6570\uff0c\u5176\u5177\u4f53\u6570\u503c\u53ef\u6839\u636e\u5b9e\u9645\u63a7\u5236\u5bf9\u8c61\u7531\u5b9e\u9a8c\u786e\u5b9a\u3002\u82e5e0\u503c\u592a\u5c0f\uff0c\u4f1a\u4f7f\u63a7\u5236\u52a8\u4f5c\u8fc7\u4e8e\u9891\u7e41\uff0c\u8fbe\u4e0d\u5230\u7a33\u5b9a\u88ab\u63a7\u5bf9\u8c61\u7684\u76ee\u7684\uff1b\u82e5e0\u592a\u5927\uff0c\u5219\u7cfb\u7edf\u5c06\u4ea7\u751f\u8f83\u5927\u7684\u6ede\u540e  \u63a7\u5236\u7b97\u6cd5\u6d41\u7a0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u6ce8\uff1a<\u6211\u4eec\u7535\u5b50\u8bbe\u8ba1\u7ade\u8d5b\u91cc\uff0c\u5728\u7b80\u6613\u5012\u7acb\u6446\u63a7\u5236\u88c5\u7f6e\u4e2d\u5c31\u91c7\u7528\u4e86\u5e26\u6b7b\u533a\u7684PID\u63a7\u5236\u7b97\u6cd5\uff0c\u5f53\u65f6\u5e76\u4e0d\u77e5\u9053\u8fd9\u4e2a\u540d\u79f0\uff0c\u8fd9\u4e5f\u5c31\u662f\u5728\u73b0\u573a\u6d4b\u8bd5\u7684\u65f6\u5019\u4e3a\u4ec0\u4e48\u8001\u5e08\u4f1a\u95ee\u6211\u4eec\u6446\u80fd\u591f\u4fdd\u6301\u5012\u7acb\u9759\u6b62\u4e0d\u52a8\uff0c\u800c\u4e0d\u662f\u9760\u5de6\u53f3\u6296\u52a8\u6765\u63a7\u5236\u5e73\u8861\uff0c\u5c31\u662f\u56e0\u4e3a\u6211\u5728\u91cc\u9762\u8bbe\u7f6e\u4e86\u6b7b\u533a\uff1a\u597d\u50cf\u662f5\u5ea6\u7684\u89d2\u5ea6><\/p>\n\n\n\n
\u5341\u3001\u4e13\u5bb6PID\u4e0e\u6a21\u7ccaPID\u7684C\u8bed\u8a00\u5b9e\u73b0<\/h4>\n\n\n\n
   \u672c\u8282\u662fPID\u63a7\u5236\u7b97\u6cd5\u7684C\u8bed\u8a00\u5b9e\u73b0\u7cfb\u5217\u7684\u6700\u540e\u4e00\u8282\uff0c\u524d\u97628\u8282\u4e2d\uff0c\u5df2\u7ecf\u5206\u522b\u4ecePID\u7684\u5b9e\u73b0\u5230\u6df1\u5165\u7684\u8fc7\u7a0b\u8fdb\u884c\u4e86\u4e00\u4e2a\u7b80\u8981\u7684\u8bb2\u89e3\uff0c\u4ece\u524d\u9762\u7684\u8bb2\u89e3\u4e2d\u4e0d\u96be\u770b\u51fa\uff0cPID\u7684\u63a7\u5236\u601d\u60f3\u975e\u5e38\u7b80\u5355\uff0c\u5176\u4e3b\u8981\u95ee\u9898\u70b9\u548c\u96be\u70b9\u5728\u4e8e\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u73af\u8282\u4e0a\u7684\u53c2\u6570\u6574\u5b9a\u8fc7\u7a0b\uff0c<\/strong>\u5bf9\u4e8e\u6267\u884c\u5668\u63a7\u5236\u6a21\u578b\u786e\u5b9a\u6216\u8005\u63a7\u5236\u6a21\u578b\u7b80\u5355\u7684\u7cfb\u7edf\u800c\u8a00\uff0c\u53c2\u6570\u7684\u6574\u5b9a\u53ef\u4ee5\u901a\u8fc7\u8ba1\u7b97\u83b7\u5f97\uff0c\u5bf9\u4e8e\u4e00\u822c\u7cbe\u5ea6\u8981\u6c42\u4e0d\u662f\u5f88\u9ad8\u7684\u6267\u884c\u5668\u7cfb\u7edf\uff0c\u53ef\u4ee5\u91c7\u7528\u62fc\u51d1\u7684\u65b9\u6cd5\u8fdb\u884c\u5b9e\u9a8c\u578b\u7684\u6574\u5b9a\u3002<\/p>\n\n\n\n
   \u7136\u800c\uff0c\u5728\u5b9e\u9645\u7684\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0c\u7ebf\u6027\u7cfb\u7edf\u6bd5\u7adf\u662f\u5c11\u6570\uff0c\u5927\u90e8\u5206\u7684\u7cfb\u7edf\u5c5e\u4e8e\u975e\u7ebf\u6027\u7cfb\u7edf\uff0c\u6216\u8005\u8bf4\u662f\u7cfb\u7edf\u6a21\u578b\u4e0d\u786e\u5b9a\u7684\u7cfb\u7edf\uff0c\u5982\u679c\u63a7\u5236\u7cbe\u5ea6\u8981\u6c42\u8f83\u9ad8\u7684\u8bdd\uff0c\u90a3\u4e48\u5bf9\u4e8e\u53c2\u6570\u7684\u6574\u5b9a\u8fc7\u7a0b\u662f\u6709\u96be\u5ea6\u7684\u3002\u4e13\u5bb6PID\u548c\u6a21\u7ccaPID\u5c31\u662f\u4e3a\u6ee1\u8db3\u8fd9\u65b9\u9762\u7684\u9700\u6c42\u800c\u8bbe\u8ba1\u7684\u3002\u4e13\u5bb6\u7b97\u6cd5\u548c\u6a21\u7cca\u7b97\u6cd5\u90fd\u5f52\u5c5e\u4e8e\u667a\u80fd\u7b97\u6cd5\u7684\u8303\u7574\uff0c\u667a\u80fd\u7b97\u6cd5\u6700\u5927\u7684\u4f18\u70b9\u5c31\u662f\u5728\u63a7\u5236\u6a21\u578b\u672a\u77e5\u7684\u60c5\u51b5\u4e0b\uff0c\u53ef\u4ee5\u5bf9\u6a21\u578b\u8fdb\u884c\u63a7\u5236\u3002\u8fd9\u91cc\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u4e13\u5bb6PID\u4e5f\u597d\uff0c\u6a21\u7ccaPID\u4e5f\u7f62\uff0c\u7edd\u5bf9\u4e0d\u662f\u4e13\u5bb6\u7cfb\u7edf\u6216\u6a21\u7cca\u7b97\u6cd5\u4e0ePID\u63a7\u5236\u7b97\u6cd5\u7684\u7b80\u5355\u52a0\u548c\uff0c\u4ed6\u662f\u4e13\u5bb6\u7cfb\u7edf\u6216\u8005\u6a21\u7cca\u7b97\u6cd5\u5728PID\u63a7\u5236\u5668\u53c2\u6570\u6574\u5b9a\u4e0a\u7684\u5e94\u7528<\/strong>\u3002\u4e5f\u5c31\u662f\u8bf4\uff0c\u667a\u80fd\u7b97\u6cd5\u662f\u8f85\u52a9PID\u8fdb\u884c\u53c2\u6570\u6574\u5b9a\u7684\u624b\u6bb5<\/strong>\u3002<\/p>\n\n\n\n
   \u5176\u5b9e\u5728\u524d\u9762\u51e0\u8282\u7684\u8bb2\u8ff0\u4e2d\uff0c\u5df2\u7ecf\u7528\u5230\u4e86\u4e13\u5bb6PID\u7684\u4e00\u4e9b\u7279\u4f8b\u884c\u4e3a\u4e86\uff0c\u4ece\u7b2c\u4e94\u8282\u5230\u7b2c\u516b\u8282\u90fd\u662f\u4e13\u5bb6\u7cfb\u7edf\u4e00\u4e9b\u7279\u5217\u5316\u7684\u7b97\u6cd5\uff0c\u5bf9\u67d0\u4e9b\u6761\u4ef6\u8fdb\u884c\u4e86\u5c40\u90e8\u7684\u5224\u5b9a\uff0c\u6bd4\u5982\u5982\u679c\u504f\u5dee\u592a\u5927\u7684\u8bdd\uff0c\u5c31\u53bb\u9664\u79ef\u5206\u9879\uff0c\u8fd9\u672c\u8eab\u5c31\u662f\u542b\u6709\u7ecf\u9a8c\u7684\u4e13\u5bb6\u7cfb\u7edf\u3002<\/p>\n\n\n\n
   \u4e13\u5bb6\u7cfb\u7edf\u3001\u6a21\u7cca\u7b97\u6cd5\uff0c\u9700\u8981\u53c2\u6570\u6574\u5b9a\u5c31\u4e00\u5b9a\u8981\u6709\u6574\u5b9a\u7684\u4f9d\u636e\uff0c\u4e5f\u5c31\u662f\u8bf4\u4ec0\u4e48\u60c5\u51b5\u4e0b\u6574\u5b9a\u4ec0\u4e48\u503c\u662f\u8981\u6709\u4f9d\u636e\u7684\uff0c\u8fd9\u4e2a\u4f9d\u636e\u662f\u4e00\u4e9b\u903b\u8f91\u7684\u7ec4\u5408\uff0c\u53ea\u8981\u627e\u51fa\u5176\u4e2d\u7684\u903b\u8f91\u7ec4\u5408\u5173\u7cfb\u6765\uff0c\u8fd9\u4e9b\u4f9d\u636e\u5c31\u518d\u660e\u663e\u4e0d\u8fc7\u4e86\u3002\u4e0b\u9762\u5148\u8bf4\u4e00\u4e0b\u4e13\u5bb6PID\u7684C\u8bed\u8a00\u5b9e\u73b0\u3002\u6b63\u5982\u524d\u9762\u6240\u8bf4\uff0c\u9700\u8981\u627e\u5230\u4e00\u4e9b\u4f9d\u636e\uff0c\u8fd8\u5f97\u4ecePID\u7cfb\u6570\u672c\u8eab\u8bf4\u8d77\u3002<\/p>\n\n\n\n
   1.\u6bd4\u4f8b\u7cfb\u6570Kp\u7684\u4f5c\u7528\u662f\u52a0\u5feb\u7cfb\u7edf\u7684\u54cd\u5e94\u901f\u5ea6\uff0c\u63d0\u9ad8\u7cfb\u7edf\u7684\u8c03\u8282\u7cbe\u5ea6\u3002Kp\u8d8a\u5927\uff0c\u7cfb\u7edf\u7684\u54cd\u5e94\u901f\u5ea6\u8d8a\u5feb\uff0c\u7cfb\u7edf\u7684\u8c03\u8282\u7cbe\u5ea6\u8d8a\u9ad8\uff0c\u4f46\u662f\u5bb9\u6613\u4ea7\u751f\u8d85\u8c03\uff0c\u751a\u81f3\u4f1a\u4f7f\u7cfb\u7edf\u4e0d\u7a33\u5b9a\u3002Kp\u53d6\u503c\u8fc7\u5c0f\uff0c\u5219\u4f1a\u964d\u4f4e\u8c03\u8282\u7cbe\u5ea6\uff0c\u4f7f\u54cd\u5e94\u901f\u5ea6\u7f13\u6162\uff0c\u4ece\u800c\u5ef6\u957f\u8c03\u8282\u65f6\u95f4\uff0c\u662f\u7cfb\u7edf\u9759\u6001\u3001\u52a8\u6001\u7279\u6027\u53d8\u5dee\uff1b<\/p>\n\n\n\n
   2.\u79ef\u5206\u4f5c\u7528\u7cfb\u6570Ki\u7684\u4f5c\u7528\u662f\u6d88\u9664\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\u3002Ki\u8d8a\u5927\uff0c\u7cfb\u7edf\u7684\u9759\u6001\u8bef\u5dee\u6d88\u9664\u7684\u8d8a\u5feb\uff0c\u4f46\u662fKi\u8fc7\u5927\uff0c\u5728\u54cd\u5e94\u8fc7\u7a0b\u7684\u521d\u671f\u4f1a\u4ea7\u751f\u79ef\u5206\u9971\u548c\u7684\u73b0\u8c61\uff0c\u4ece\u800c\u5f15\u8d77\u54cd\u5e94\u8fc7\u7a0b\u7684\u8f83\u5927\u8d85\u8c03\u3002\u82e5Ki\u8fc7\u5c0f\uff0c\u5c06\u4f7f\u7cfb\u7edf\u9759\u6001\u8bef\u5dee\u96be\u4ee5\u6d88\u9664\uff0c\u5f71\u54cd\u7cfb\u7edf\u7684\u8c03\u8282\u7cbe\u5ea6\uff1b<\/p>\n\n\n\n
   3.\u5fae\u5206\u7cfb\u6570Kd\u7684\u4f5c\u7528\u662f\u6539\u5584\u7cfb\u7edf\u7684\u52a8\u6001\u7279\u6027\uff0c\u5176\u4f5c\u7528\u4e3b\u8981\u662f\u5728\u54cd\u5e94\u8fc7\u7a0b\u4e2d\u6291\u5236\u504f\u5dee\u5411\u4efb\u4f55\u65b9\u5411\u7684\u53d8\u5316\uff0c\u5bf9\u504f\u5dee\u53d8\u5316\u8fdb\u884c\u63d0\u524d\u9884\u62a5\u3002\u4f46\u662fkd\u8fc7\u5927\uff0c\u4f1a\u4f7f\u54cd\u5e94\u8fc7\u7a0b\u63d0\u524d\u5236\u52a8\uff0c\u4ece\u800c\u5ef6\u957f\u8c03\u8282\u65f6\u95f4\uff0c\u800c\u4e14\u4f1a\u964d\u4f4e\u7cfb\u7edf\u7684\u6297\u5e72\u6270\u6027\u3002<\/p>\n\n\n\n
   \u53cd\u5e94\u7cfb\u7edf\u6027\u80fd\u7684\u4e24\u4e2a\u53c2\u6570\u662f\u7cfb\u7edf\u8bef\u5deee<\/strong>\u548c\u8bef\u5dee\u53d8\u5316\u5f8bec<\/strong>\uff0c\u8fd9\u70b9\u8fd8\u662f\u597d\u7406\u89e3\u7684\uff1a<\/p>\n\n\n\n
    \u9996\u5148\u6211\u4eec\u89c4\u5b9a\u4e00\u4e2a\u8bef\u5dee\u7684\u6781\u9650\u503c\uff0c\u5047\u8bbe\u4e3aMmax\uff1b\u89c4\u5b9a\u4e00\u4e2a\u8bef\u5dee\u7684\u6bd4\u8f83\u5927\u7684\u503c\uff0c\u5047\u8bbe\u4e3aMmid\uff1b\u89c4\u5b9a\u4e00\u4e2a\u8bef\u5dee\u7684\u8f83\u5c0f\u503c\uff0c\u5047\u8bbe\u4e3aMmin\uff1b<\/p>\n\n\n\n
   \u5f53abs\uff08e\uff09>Mmax\u65f6\uff0c\u8bf4\u660e\u8bef\u5dee\u7684\u7edd\u5bf9\u503c\u5df2\u7ecf\u5f88\u5927\u4e86\uff0c\u4e0d\u8bba\u8bef\u5dee\u53d8\u5316\u8d8b\u52bf\u5982\u4f55\uff0c\u90fd\u5e94\u8be5\u8003\u8651\u63a7\u5236\u5668\u7684\u8f93\u5165\u5e94\u6309\u6700\u5927\uff08\u6216\u6700\u5c0f\uff09\u8f93\u51fa\uff0c\u4ee5\u8fbe\u5230\u8fc5\u901f\u8c03\u6574\u8bef\u5dee\u7684\u6548\u679c\uff0c\u4f7f\u8bef\u5dee\u7edd\u5bf9\u503c\u4ee5\u6700\u5927\u7684\u901f\u5ea6\u51cf\u5c0f\u3002\u6b64\u65f6\uff0c\u76f8\u5f53\u4e8e\u5b9e\u65bd\u5f00\u73af\u63a7\u5236\u3002<\/p>\n\n\n\n
   \u5f53e*ec>0\u65f6\uff0c\u8bf4\u660e\u8bef\u5dee\u5728\u671d\u5411\u8bef\u5dee\u7edd\u5bf9\u503c\u589e\u5927\u7684\u65b9\u5411\u53d8\u5316\uff0c\u6b64\u65f6\uff0c\u5982\u679cabs(e)>Mmid\uff0c\u8bf4\u660e\u8bef\u5dee\u4e5f\u8f83\u5927\uff0c\u53ef\u8003\u8651\u7531\u63a7\u5236\u5668\u5b9e\u65bd\u8f83\u5f3a\u7684\u63a7\u5236\u4f5c\u7528\uff0c\u4ee5\u8fbe\u5230\u626d\u8f6c\u8bef\u5dee\u7edd\u5bf9\u503c\u5411\u51cf\u5c0f\u7684\u65b9\u5411\u53d8\u5316\uff0c\u5e76\u8fc5\u901f\u51cf\u5c0f\u8bef\u5dee\u7684\u7edd\u5bf9\u503c\u3002\u6b64\u65f6\u5982\u679cabs(e)<Mmid\uff0c\u8bf4\u660e\u5c3d\u7ba1\u8bef\u5dee\u662f\u5411\u7edd\u5bf9\u503c\u589e\u5927\u7684\u65b9\u5411\u53d8\u5316\uff0c\u4f46\u662f\u8bef\u5dee\u7edd\u5bf9\u503c\u672c\u8eab\u5e76\u4e0d\u662f\u5f88\u5927\uff0c\u53ef\u4ee5\u8003\u8651\u63a7\u5236\u5668\u5b9e\u65bd\u4e00\u822c\u7684\u63a7\u5236\u4f5c\u7528\uff0c\u53ea\u9700\u8981\u626d\u8f6c\u8bef\u5dee\u7684\u53d8\u5316\u8d8b\u52bf\uff0c\u4f7f\u5176\u5411\u8bef\u5dee\u7edd\u5bf9\u503c\u51cf\u5c0f\u7684\u65b9\u5411\u53d8\u5316\u5373\u53ef\u3002<\/p>\n\n\n\n
   \u5f53e*err<0\u4e14e*err(k-1)>0\u6216\u8005e=0\u65f6\uff0c\u8bf4\u660e\u8bef\u5dee\u7684\u7edd\u5bf9\u503c\u5411\u51cf\u5c0f\u7684\u65b9\u5411\u53d8\u5316\uff0c\u6216\u8005\u5df2\u7ecf\u8fbe\u5230\u5e73\u8861\u72b6\u6001\uff0c\u6b64\u65f6\u4fdd\u6301\u63a7\u5236\u5668\u8f93\u51fa\u4e0d\u53d8\u5373\u53ef\u3002<\/p>\n\n\n\n
   \u5f53e*err<0\u4e14e*err(k-1)<0\u65f6\uff0c\u8bf4\u660e\u8bef\u5dee\u5904\u4e8e\u6781\u9650\u72b6\u6001\u3002\u5982\u679c\u6b64\u65f6\u8bef\u5dee\u7684\u7edd\u5bf9\u503c\u8f83\u5927\uff0c\u5927\u4e8eMmin\uff0c\u53ef\u4ee5\u8003\u8651\u5b9e\u65bd\u8f83\u5f3a\u63a7\u5236\u4f5c\u7528\u3002\u5982\u679c\u6b64\u65f6\u8bef\u5dee\u7edd\u5bf9\u503c\u8f83\u5c0f\uff0c\u53ef\u4ee5\u8003\u8651\u5b9e\u65bd\u8f83\u5f31\u63a7\u5236\u4f5c\u7528\u3002<\/p>\n\n\n\n
   \u5f53abs(e)<Mmin\u65f6\uff0c\u8bf4\u660e\u8bef\u5dee\u7edd\u5bf9\u503c\u5f88\u5c0f\uff0c\u6b64\u65f6\u52a0\u5165\u79ef\u5206\uff0c\u51cf\u5c0f\u9759\u6001\u8bef\u5dee\u3002<\/p>\n\n\n\n
\u4e0a\u9762\u7684\u903b\u8f91\u5224\u65ad\u8fc7\u7a0b\uff0c\u5b9e\u9645\u4e0a\u5c31\u662f\u5bf9\u4e8e\u63a7\u5236\u7cfb\u7edf\u7684\u4e00\u4e2a\u4e13\u5bb6\u5224\u65ad\u8fc7\u7a0b\u3002<\/p>\n\n\n\n
\u5341\u4e00\u3001\u6a21\u7cca\u7b97\u6cd5\u7b80\u4ecb<\/h4>\n\n\n\n
  \u5728PID\u63a7\u5236\u7b97\u6cd5\u7684C\u8bed\u8a00\u5b9e\u73b0\u4e5d\u4e2d\uff0c\u6587\u7ae0\u5df2\u7ecf\u5bf9\u6a21\u7ccaPID\u7684\u5b9e\u8d28\u505a\u4e86\u4e00\u4e2a\u7b80\u8981\u8bf4\u660e\u3002\u672c\u6765\u6253\u7b97\u7b49\u5230\u5b8c\u6210\u6bd5\u4e1a\u8bbe\u8ba1\uff0c\u5de5\u4f5c\u7a33\u5b9a\u4e86\u518d\u7740\u529b\u5b8c\u6210\u5269\u4e0b\u7684\u90e8\u5206\u3002\u9274\u4e8e\u7f51\u53cb\u7684\u8981\u6c42\u548c\u4fe1\u4efb\uff0c\u62bd\u51fa\u65f6\u95f4\u6765\uff0c\u5bf9\u6a21\u7ccaPID\u505a\u4e00\u4e2a\u8f83\u4e3a\u8be6\u7ec6\u7684\u8bba\u8ff0\uff0c\u8fd9\u91cc\u6211\u4e0d\u6253\u7b97\u505a\u51fa\u4eff\u771f\u7a0b\u5e8f\u4e86\uff0c\u4f46\u5c31\u57fa\u672c\u6982\u5ff5\u548c\u601d\u8def\u8fdb\u884c\u4e00\u4e0b\u8bf4\u660e\uff0c\u76f8\u4fe1\u6709C\u8bed\u8a00\u57fa\u7840\u7684\u670b\u53cb\u53ef\u4ee5\u901a\u8fc7\u8fd9\u4e9b\u4ecb\u7ecd\u6027\u7684\u6587\u5b57\u81ea\u884c\u5b9e\u73b0\u3002\u8fd9\u7bc7\u6587\u7ae0\u4e3b\u8981\u8bf4\u660e\u4e00\u4e0b\u6a21\u7cca\u7b97\u6cd5\u7684\u542b\u4e49\u548c\u539f\u7406\u3002<\/p>\n\n\n\n
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\u5341\u4e8c\u3001\u6a21\u7ccaPID\u7684\u53c2\u6570\u6574\u5b9a<\/h4>\n\n\n\n
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\u6211\u6240\u8bf4\u7684\u6700\u540e\u4e00\u7bc7\u4e0d\u4ee3\u8868PID\u7684\u529f\u80fd\u548c\u53d1\u5c55\u5c31\u6b62\u6b65\u4e0e\u6b64\uff0c\u4ec5\u4ec5\u662f\u8bf4\u660e\uff0c\u900f\u8fc7\u8fd9\u4e00\u4e9b\u5217\u7684\u6587\u7ae0\uff0c\u57fa\u672c\u4e0a\u5df2\u7ecf\u53ef\u4ee5\u6db5\u76d6PID\u8bbe\u8ba1\u7684\u8981\u70b9\uff0c\u81f3\u4e8e\u66f4\u6df1\u5165\u7684\u7814\u7a76\uff0c\u5c31\u4ea4\u7ed9\u6709\u9700\u8981\u7684\u8bfb\u8005\u53bb\u505a\u3002<\/p>\n\n\n\n
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 1.\u6bd4\u4f8b\u73af\u8282Kp\uff0c\u4f5c\u7528\u662f\u52a0\u5feb\u7cfb\u7edf\u7684\u54cd\u5e94\u901f\u5ea6\uff0c\u63d0\u9ad8\u7cfb\u7edf\u7684\u8c03\u8282\u7cbe\u5ea6\uff0c\u526f\u4f5c\u7528\u662f\u4f1a\u5bfc\u81f4\u8d85\u8c03; <\/p>\n\n\n\n
 2.\u79ef\u5206\u73af\u8282Ki\uff0c\u4f5c\u7528\u662f\u6d88\u9664\u7a33\u6001\u8bef\u5dee\uff0c\u526f\u4f5c\u7528\u662f\u5bfc\u81f4\u79ef\u5206\u9971\u548c\u73b0\u8c61;   <\/p>\n\n\n\n
 3.\u5fae\u5206\u73af\u8282Kd\uff0c\u4f5c\u7528\u662f\u6539\u5584\u7cfb\u7edf\u7684\u52a8\u6001\u6027\u80fd\uff0c\u526f\u4f5c\u7528\u662f\u5ef6\u957f\u7cfb\u7edf\u7684\u8c03\u8282\u65f6\u95f4\u3002 <\/p>\n\n\n\n
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<\/p>\n\n\n\n
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\u90a3\u4e48\u7ecf\u8fc7AD\u91c7\u6837<\/p>\n\n\n\n
1\u3001\u7ed9\u5b9a2.5V\u5bf9\u5e94\u4e3a 512<\/p>\n\n\n\n
2\u3001\u53cd\u99881V\u5bf9\u5e94\u4e3a 205<\/p>\n\n\n\n
\u5047\u5b9a\u7ecf\u8fc7PID\u8ba1\u7b97\u5f97\u5230\u7684UK\u4e3a400<\/p>\n\n\n\n
\u4e5f\u5c31\u610f\u5473\u7740\u8f93\u51fa\u7535\u538b\u5e94\u5f53\u4e3a\uff08400*\uff08UPWM\u5cf0\u503c\u7535\u538b\uff09\uff09\/1024<\/p>\n\n\n\n
\u90a3\u4e48UK\u5bf9\u5e94\u7684PWM\u5360\u7a7a\u6bd4\u662f\u591a\u5c11\u5462\uff1f<\/p>\n\n\n\n
\u6211\u4eec\u77e5\u9053\uff0cUK=1024\u5bf9\u5e94\u5360\u7a7a\u6bd4\u4e3a100\uff0c\u4e5f\u5c31\u662fPWM\u7684\u5360\u7a7a\u6bd4\u7cfb\u6570\u4e3a255\u3002\u53ef\u77e5\uff0cPWM\u7cfb\u6570 = UK\/4;<\/p>\n\n\n\n
\u90a3\u4e48400\u5c31\u5e94\u5f53\u5bf9\u5e94\u7cfb\u6570 400\/4=100\u3002<\/p>\n\n\n\n
\u4e5f\u5c31\u662f\u8f93\u51fa\u7535\u538b=400*10\/1024=3.9V<\/p>\n\n\n\n
\u540c\u65f6\uff0c\u7531\u4e8e\u91c7\u6837\u7cbe\u5ea6\u4ee5\u53caPWM\u8f93\u51fa\u5360\u7a7a\u6bd4\u7cbe\u5ea6\u63a7\u5236\u7684\u95ee\u9898\uff0c\u5c06\u5bfc\u81f4\u8f93\u51fa\u7535\u538b\u548c\u671f\u671b\u503c\u4e0d\u662f\u90a3\u4e48\u7ebf\u6027\uff0c\u6240\u4ee5\uff0c\u6211\u5728\u9879\u76ee\u5185\u52a0\u5165\u4e86\u8f93\u51fa\u7535\u538b\u91c7\u6837\u7684\u63a7\u5236\u3002<\/p>\n\n\n\n
\u91c7\u6837AD\u8f93\u5165\u4e3a0-5V\uff0c\u6240\u4ee5\uff0c\u5bf9\u4e8e\u8f93\u51fa0-10V\u6709\u4e00\u4e2a\u7f29\u5c0f\u7684\u6bd4\u4f8b\u3002<\/p>\n\n\n\n
\u8f93\u51fa10V\u5219\u91c7\u6837\u503c\u5bf9\u5e94\u4e3a255<\/p>\n\n\n\n
\u8f93\u51fa5V\u5219\u91c7\u6837\u4e4b\u5bf9\u5e94127<\/p>\n\n\n\n
\u53ef\u77e5\uff0c3.9V\u5bf9\u5e94AD\u7ed3\u679c\u4e3a97<\/p>\n\n\n\n
\u91c7\u6837\u8f93\u51fa\u7535\u538b\u503c\uff0c\u53ef\u4ee5\u9488\u5bf9\u6027\u7684\u8c03\u6574\u4e00\u4e0b\u5360\u7a7a\u6bd4\u8f93\u51fa\uff0c\u4ece\u800c\u5f97\u5230\u8bef\u5dee\u5141\u8bb8\u8303\u56f4\u5185\u7684\u4e00\u4e2a\u63a7\u5236\u8f93\u51fa\u7535\u538b\u3002<\/p>\n\n\n\n
\u540c\u65f6\uff0c\u7ecf\u8fc7\u4e00\u4e9b\u52a0\u901f\u63a7\u5236\u7684\u624b\u6bb5\u3002\u53ef\u4ee5\u6bd4\u8f83\u8fc5\u901f\u7684\u8fbe\u5230\u63a7\u5236\u7684\u76ee\u7684\u3002<\/p>\n\n\n\n
\u4e0b\u6587\u4e2d\u7684UK\u63a7\u5236\u65b9\u6cd5\u662f\u9488\u5bf9\u589e\u91cf\u5f0fPID\u63a7\u5236\u800c\u6765\u505a\u7684\u3002<\/p>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
  1 \/****************************************************\/\n  2 \n  3 void    PWMProcess(void)\n  4 \n  5 {\n  6 \n  7     uint16 idata temp;\n  8 \n  9     uint16 idata UKTemp;\n 10 \n 11  temp = 0;\n 12 \n 13     UKTemp = 0;\n 14 \n 15     if( Pwm.ChangeFlag_Uint8 != 0 )   \/\/\u5224\u65ad\u662f\u5426\u9700\u8981\u6539\u53d8\u5360\u7a7a\u6bd4\n 16 \n 17  {                  \/\/\u662f\u5426\u9700\u8981\u6539\u53d8\u5360\u7a7a\u6bd4\u548c\u4f60\u7684\u88ab\u63a7\u7cfb\u7edf\u7279\u6027\u6709\u5173\n 18 \n 19      Pwm.ChangeFlag_Uint8 = 0;\n 20 \n 21   UKTemp = PID.Uk_Uint16 + SwIn.AddValue_Uint16;   \n 22 \n 23  \/\/\u8ba1\u7b97UK\u63a7\u5236\u91cf\n 24 \n 25  \/\/\u63a7\u5236\u91cf\u548c\u8ba1\u7b97\u503c\u4ee5\u53ca\u4e00\u4e2a\u5f00\u5173\u91cf\u6709\u5173\uff0c\u6211\u8fd9\u91cc\u7684\u5f00\u5173\u91cf\u662f\u7cfb\u7edf\u9700\u8981\u7684\u65f6\u5019\u53e0\u52a0\u5728\u63a7\u5236\u91cf\u4e0a\u7684\u4e00\u4e2a\u53d8\u91cf\u3002\n 26 \n 27   if(UKTemp>999)\n 28 \n 29   {\n 30 \n 31             UKTemp = 999;\n 32 \n 33   }\n 34 \n 35 \/\/\u8fd9\u91cc\u53ea\u6240\u4ee5\u662f999\u5c01\u9876\u800c\u4e0d\u662f1024\u662f\u56e0\u4e3a\u6211\u7684\u7cfb\u7edfPWM\u7684\u5cf0\u503c\u7535\u538b\u662f12V\u5bfc\u81f4\u3002\n 36 \n 37         while(1)                        \/\/\u5982\u679c\u8f93\u51fa\u7535\u538b\u548c\u671f\u671b\u7535\u538b\u76f8\u5dee Delta\uff0c\u5219\u7ee7\u7eed\u8c03\u6574\u5360\u7a7a\u6bd4\uff0c\u76f4\u5230\u5728\u8bef\u5dee\u4ee5\u5185\n 38 \n 39         {\n 40 \n 41       ADChPro(UPWMADCH);          \/\/\u6d4b\u91cf\u8f93\u51fa\u7535\u538b\n 42 \n 43    if( ADPool.Value_Uint16[UPWMADCH] == UKTemp)\n 44 \n 45    {\n 46 \n 47                 return;\n 48 \n 49    }\n 50 \n 51    if( ADPool.Value_Uint16[UPWMADCH] > UKTemp)   \/\/\u5982\u679c\u5f53\u524d\u7535\u538b\u5927\u4e8e\u8f93\u51fa\u7535\u538b\uff0c\u51cf\u5c0f\u5360\u7a7a\u6bd4\n 52 \n 53    {\n 54 \n 55        if( ( ADPool.Value_Uint16[UPWMADCH] - UKTemp ) > UDELTA )\n 56 \n 57     {\n 58 \n 59         temp = ADPool.Value_Uint16[UPWMADCH] - UKTemp;  \/\/\n 60 \n 61     \u3000\u3000 temp = temp \/ 2;       \/\/\u4e0b\u964d\u53ef\u4ee5\u52a0\u901f\u4e0b\u964d\uff0c\u6240\u4ee5\u4e0b\u964d\u53c2\u6570\u52a0\u500d\n 63      \u3000\u3000if( Pwm.DutyCycle_Uint8 > temp )\n 65      \u3000\u3000{\n 67                         Pwm.DutyCycle_Uint8 = Pwm.DutyCycle_Uint8 - temp;\n 69     \u3000\u3000 }\n 71     \u3000\u3000 else\n 73      \u3000\u3000{\n 75                         Pwm.DutyCycle_Uint8 = 0;\n 77     \u3000\u3000 }\n 79     }\n 81     else\n 83     {\n 85                 return;\n 87     }\n 89    }\n 91    else           \/\/\u5982\u679c\u5f53\u524d\u7535\u538b\u5c0f\u4e8e\u8f93\u51fa\u7535\u538b\n 93    {\n 94 \n 95        if( ( UKTemp - ADPool.Value_Uint16[UPWMADCH] ) > UDELTA )\n 96 \n 97     {\n 98 \n 99         temp = UKTemp - ADPool.Value_Uint16[UPWMADCH];\n100 \n101      temp = temp \/ 4;  \/\/\u4e0a\u5347\u5904\u7406\u4e0d\u8981\u8d85\u8c03\uff0c\u6240\u4ee5\u6bcf\u6b21\u53ea+\u4e00\u534a\n102 \n103      if( (255-Pwm.DutyCycle_Uint8) > temp )\n104 \n105      {\n106 \n107                         Pwm.DutyCycle_Uint8 += (temp\/2);\n108 \n109      }\n110 \n111      else\n112 \n113      {\n114 \n115                         Pwm.DutyCycle_Uint8 = 255;\n116 \n117      }\n118 \n119     }\n120 \n121     else\n122 \n123     {\n124 \n125                     return;\n126 \n127     }\n128 \n129    }\n130 \n131             DisPlayVoltage();\n132 \n133             PWMChangeDuty(Pwm.DutyCycle_Uint8);  \/\/\u6539\u53d8\u5360\u7a7a\u6bd4\n134 \n135    Delay(10,10);\n136 \n137  \n138 \n139         }\n140 \n141  }\n142 \n143 }\n144 \n145 \/*****************************************************\/<\/pre>\n\n\n\n
<\/a><\/a><\/p>\n\n\n\n
 <\/h1>\n\n\n\n
\u9644\u5f552<\/h4>\n\n\n\n
\u76f4\u6d41\u7535\u673aPWM\u8c03\u901f\u7cfb\u7edf\u4e2d\u63a7\u5236\u7535\u538b\u975e\u7ebf\u6027\u7814\u7a76<\/strong><\/h5>\n\n\n\n
\u5f15\u8a00<\/p>\n\n\n\n
    \u7531\u4e8e\u7ebf\u6027\u653e\u5927\u9a71\u52a8\u65b9\u5f0f\u6548\u7387\u548c\u6563\u70ed\u95ee\u9898\u4e25\u91cd\uff0c\u76ee\u524d\u7edd\u5927\u591a\u6570\u76f4\u6d41\u7535\u52a8\u673a\u91c7\u7528\u5f00\u5173\u9a71\u52a8\u65b9\u5f0f\u3002\u5f00\u5173\u9a71\u52a8\u65b9\u5f0f\u662f\u534a\u5bfc\u4f53\u529f\u7387\u5668\u4ef6\u5de5\u4f5c\u5728\u5f00\u5173\u72b6\u6001\uff0c\u901a\u8fc7\u8109\u5bbd\u8c03\u5236PWM\u63a7\u5236\u7535\u52a8\u673a\u7535\u67a2\u7535\u538b\uff0c\u5b9e\u73b0\u8c03\u901f\u3002\u76ee\u524d\u5df2\u6709\u8bb8\u591a\u6587\u732e\u4ecb\u7ecd\u76f4\u6d41\u7535\u673a\u8c03\u901f\uff0c\u5b8b\u536b\u56fd\u7b49\u752889C51\u5355\u7247\u673a\u5b9e\u73b0\u4e86\u76f4\u6d41\u7535\u673a\u95ed\u73af\u8c03\u901f\uff1b\u5f20\u7acb\u52cb\u7b49\u7528AVR\u5355\u7247\u673a\u5b9e\u73b0\u4e86\u76f4\u6d41\u7535\u673aPWM\u8c03\u901f\uff1b\u90ed\u5d07\u519b\u7b49\u7528C8051\u5b9e\u73b0\u4e86\u65e0\u5237\u76f4\u6d41\u7535\u673a\u63a7\u5236\uff1b\u5f20\u7ea2\u5a1f\u7b49\u7528PIC\u5355\u7247\u673a\u5b9e\u73b0\u4e86\u76f4\u6d41\u7535\u673aPWM\u8c03\u901f\uff1b\u738b\u6668\u9633\u7b49\u7528DSP\u5b9e\u73b0\u4e86\u65e0\u5237\u76f4\u6d41\u7535\u673a\u63a7\u5236\u3002\u4e0a\u8ff0\u6587\u732e\u5bf9\u5b9e\u73b0\u8c03\u901f\u7684\u786c\u4ef6\u7535\u8def\u548c\u8f6f\u4ef6\u6d41\u7a0b\u7684\u8bbe\u8ba1\u6709\u8f83\u8be6\u7ec6\u7684\u63cf\u8ff0\uff0c\u4f46\u6ca1\u6709\u8bf4\u660e\u5177\u4f53\u7684\u8c03\u538b\u8c03\u901f\u65b9\u6cd5\uff0c\u4e5f\u6ca1\u6709\u63d0\u53ca\u5360\u7a7a\u6bd4\u4e0e\u7535\u673a\u7aef\u7535\u538b\u5e73\u5747\u503c\u4e4b\u95f4\u7684\u5173\u7cfb\u3002\u5728\u674e\u7ef4\u519b\u7b49\u57fa\u4e8e\u5355\u7247\u673a\u7528\u8f6f\u4ef6\u5b9e\u73b0\u76f4\u6d41\u7535\u673aPWM\u8c03\u901f\u7cfb\u7edf\u4e2d\u63d0\u5230\u5e73\u5747\u901f\u5ea6\u4e0e\u5360\u7a7a\u6bd4\u5e76\u4e0d\u662f\u4e25\u683c\u7684\u7ebf\u6027\u5173\u7cfb\uff0c\u5728\u4e00\u822c\u7684\u5e94\u7528\u4e2d\uff0c\u53ef\u4ee5\u5c06\u5176\u8fd1\u4f3c\u5730\u770b\u4f5c\u7ebf\u6027\u5173\u7cfb\u3002\u4f46\u6ca1\u6709\u505a\u6df1\u5165\u7684\u7814\u7a76\u3002\u672c\u6587\u901a\u8fc7\u5b9e\u9a8c\u9a8c\u8bc1\uff0c\u5728\u4e0d\u5e26\u7535\u673a\u60c5\u51b5\u4e0b\uff0cPWM\u6ce2\u5360\u7a7a\u6bd4\u4e0e\u63a7\u5236\u8f93\u51fa\u7aef\u7535\u538b\u5e73\u5747\u503c\u4e4b\u95f4\u5448\u7ebf\u6027\u5173\u7cfb\uff1b\u5728\u5e26\u7535\u673a\u60c5\u51b5\u4e0b\uff0c\u5360\u7a7a\u6bd4\u4e0e\u7535\u673a\u7aef\u7535\u538b\u5e73\u5747\u503c\u6ee1\u8db3\u629b\u7269\u7ebf\u65b9\u7a0b\uff0c\u80fd\u53d6\u5f97\u7cbe\u786e\u7684\u63a7\u5236\u3002\u672c\u6587\u7684\u7535\u673a\u95ed\u73af\u8c03\u901f\u662f\u8fd0\u7528Matlab\u62df\u5408\u7684\u5173\u7cfb\u5f0f\u901a\u8fc7PID\u63a7\u5236\u7b97\u6cd5\u5b9e\u73b0\u3002<\/p>\n\n\n\n
1 \u7cfb\u7edf\u786c\u4ef6\u8bbe\u8ba1<\/p>\n\n\n\n
    \u672c\u7cfb\u7edf\u662f\u57fa\u4e8eTX-1C\u5b9e\u9a8c\u677f\u4e0a\u7684AT89C52\u5355\u7247\u673a\uff0c\u8c03\u901f\u7cfb\u7edf\u7684\u786c\u4ef6\u539f\u7406\u56fe\u5982\u56fe1\u6240\u793a\uff0c\u4e3b\u8981\u7531AT89C52\u5355\u7247\u673a\u3001555\u632f\u8361\u7535\u8def\u3001L298\u9a71\u52a8\u7535\u8def\u3001\u5149\u7535\u9694\u79bb\u3001\u970d\u5c14\u5143\u4ef6\u6d4b\u901f\u7535\u8def\u3001MAX 232\u7535\u5e73\u8f6c\u6362\u7535\u8def\u7b49\u7ec4\u6210\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
2 \u7cfb\u7edf\u8f6f\u4ef6\u8bbe\u8ba1<\/p>\n\n\n\n
    \u7cfb\u7edf\u91c7\u7528\u6a21\u5757\u5316\u8bbe\u8ba1\uff0c\u8f6f\u4ef6\u75311\u4e2a\u4e3b\u7a0b\u5e8f\uff0c3\u4e2a\u4e2d\u65ad\u5b50\u7a0b\u5e8f\uff0c\u5373\u5916\u90e8\u4e2d\u65ad0\u3001\u5916\u90e8\u4e2d\u65ad1\uff0c\u5b9a\u65f6\u56680\u5b50\u7a0b\u5e8f\uff0cPID\u7b97\u6cd5\u5b50\u7a0b\u5e8f\uff0c\u6d4b\u901f\u5b50\u7a0b\u5e8f\u53ca\u53d1\u9001\u6570\u636e\u5230\u4e32\u53e3\u663e\u793a\u5b50\u7a0b\u5e8f\u7ec4\u6210\uff0c\u4e3b\u7a0b\u5e8f\u6d41\u7a0b\u56fe\u5982\u56fe2\u6240\u793a\u3002\u5916\u90e8\u4e2d\u65ad0\u901a\u8fc7\u6bd4\u8f83\u76f4\u6d41\u7535\u5e73\u4e0e\u952f\u9f7f\u6ce2\u4fe1\u53f7\u4ea7\u751fPWM\u6ce2\uff0c\u5916\u90e8\u4e2d\u65ad1\u7528\u4e8e\u5bf9\u4f20\u611f\u5668\u7684\u8109\u51b2\u8ba1\u6570\u3002\u5b9a\u65f6\u56680\u7528\u4e8e\u5bf9\u8ba1\u6570\u8109\u51b2\u5b9a\u65f6\u3002\u6d4b\u5f97\u7684\u8f6c\u901f\u901a\u8fc7\u4e32\u53e3\u53d1\u9001\u5230\u4e0a\u4f4d\u673a\u663e\u793a\uff0c\u901a\u8fc7PID\u6a21\u5757\u8c03\u6574\u8f6c\u901f\u5230\u8bbe\u5b9a\u503c\u3002\u672c\u5b9e\u9a8c\u91c7\u7528M\uff0fT\u6cd5\u6d4b\u901f\uff0c\u5b83\u662f\u540c\u65f6\u6d4b\u91cf\u68c0\u6d4b\u65f6\u95f4\u548c\u5728\u6b64\u68c0\u6d4b\u65f6\u95f4\u5185\u970d\u5c14\u4f20\u611f\u5668\u6240\u4ea7\u751f\u7684\u8f6c\u901f\u8109\u51b2\u4fe1\u53f7\u7684\u4e2a\u6570\u6765\u786e\u5b9a\u8f6c\u901f\u3002\u7531\u5916\u90e8\u4e2d\u65ad1\u5bf9\u970d\u5c14\u4f20\u611f\u5668\u8109\u51b2\u8ba1\u6570\uff0c\u540c\u65f6\u8d77\u52a8\u5b9a\u65f6\u56680\uff0c\u5f53\u8ba1\u6570\u4e2a\u6570\u5230\u9884\u5b9a\u503c2 000\u540e\uff0c\u5173\u5b9a\u65f6\u56680\uff0c\u53ef\u5f97\u5230\u8ba12 000\u4e2a\u8109\u51b2\u7684\u8ba1\u6570\u65f6\u95f4\uff0c\u7531\u5f0f\u8ba1\u7b97\u51fa\u8f6c\u901f\uff1a<\/p>\n\n\n\n
n=60f\uff0fK=60N\uff0f(KT) (1)<\/p>\n\n\n\n
    \u5f0f\u4e2d\uff1an\u4e3a\u76f4\u6d41\u7535\u673a\u7684\u8f6c\u901f\uff1bK\u4e3a\u970d\u5c14\u4f20\u611f\u5668\u8f6c\u76d8\u4e0a\u78c1\u94a2\u6570\uff1bf\u4e3a\u8109\u51b2\u9891\u7387\uff1bN\u4e3a\u8109\u51b2\u4e2a\u6570\uff1bT\u4e3a\u91c7\u6837\u5468\u671f\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
3 \u5b9e\u9a8c\u7ed3\u679c\u53ca\u539f\u56e0\u5206\u6790<\/p>\n\n\n\n
    3\uff0e1 \u7aef\u7535\u538b\u5e73\u5747\u503c\u4e0e\u8f6c\u901f\u5173\u7cfb<\/p>\n\n\n\n
    3\uff0e1\uff0e1 \u5b9e\u9a8c\u7ed3\u679c<\/em><\/p>\n\n\n\n
\u00a0\u00a0\u00a0 \u5b9e\u9a8c\u7528\u7684\u662f\u6c38\u78c1\u7a33\u901f\u76f4\u6d41\u7535\u673a\uff0c\u578b\u53f7\u662fEG-530YD-2BH\uff0c\u989d\u5b9a\u8f6c\u901f2 000\uff5e4 000 r\uff0fmin\uff0c\u989d\u5b9a\u7535\u538b12 V\u3002\u7535\u673a\u5728\u7a7a\u8f7d\u7684\u60c5\u51b5\u4e0b\uff0c\u6d4b\u5f97\u7684\u6570\u636e\u7528Matlab\u505a\u4e00\u6b21\u7ebf\u6027\u62df\u5408\uff0c\u62df\u5408\u7684\u7aef\u7535\u538b\u5e73\u5747\u503c\u4e0e\u8f6c\u901f\u5173\u7cfb\u66f2\u7ebf\u5982\u56fe3(a)\u6240\u793a\u3002\u76f8\u5173\u7cfb\u6570R-square\uff1a0.9521\u3002\u62df\u5408\u66f2\u7ebf\u65b9\u7a0b\u4e3a\uff1a<\/p>\n\n\n\n
y=0.001852x+0.2963 (2)<\/p>\n\n\n\n
\u00a0\u00a0\u00a0 \u7531\u5f0f(2)\u53ef\u77e5\uff0c\u7aef\u7535\u538b\u5e73\u5747\u503c\u4e0e\u8f6c\u901f\u53ef\u8fd1\u4f3c\u4e3a\u7ebf\u6027\u5173\u7cfb\uff0c\u6839\u6910\u6b64\u5173\u7cfb\u5f0f\uff0c\u5728\u5df2\u6d4b\u5f97\u7684\u8f6c\u901f\u7684\u60c5\u51b5\u4e0b\u53ef\u4ee5\u8ba1\u7b97\u51fa\u5f53\u524d\u7535\u538b\u3002\u4e3a\u4e86\u6bd4\u8f83\u5206\u6790\uff0c\u540c\u6837\u7528Matlab\u505a\u4e8c\u6b21\u7ebf\u6027\u62df\u5408\uff0c\u62df\u5408\u7684\u7aef\u7535\u538b\u5e73\u5747\u503c\u4e0e\u8f6c\u901f\u5173\u7cfb\u66f2\u7ebf\u5982\u56fe3(b)\u6240\u793a\u3002\u76f8\u5173\u7cfb\u6570R-square\uff1a0.9867\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
3\uff0e1\uff0e2 \u539f\u56e0\u5206\u6790<\/em><\/p>\n\n\n\n
    \u6bd4\u8f83\u56fe3(a)\u53ef\u77e5\uff0c\u5f53\u8f6c\u901f\u57280\uff5e1 500 r\uff0fmin\u548c4 000\uff5e5 000 r\uff0fmin\uff0c\u7aef\u7535\u538b\u5e73\u5747\u503c\u4e0e\u8f6c\u901f\u95f4\u5b58\u5728\u7684\u975e\u7ebf\u6027\uff0c\u7528\u4e8c\u6b21\u66f2\u62df\u5408\u5982\u56fe3(b)\u6240\u793a\uff0c\u62df\u5408\u76f8\u5173\u7cfb\u6570\u8f83\u9ad8\u3002\u7531\u56fe3(a)\u53ef\u89c1\uff0c\u5f53\u7535\u673a\u8f6c\u901f\u4e3a0\u65f6\u7535\u673a\u4e24\u7aef\u7535\u538b\u5e73\u5747\u503c\u7ea6\u4e3a1\uff0e3 V\u3002\u8fd9\u662f\u56e0\u4e3a\u7535\u673a\u5904\u4e8e\u9759\u6b62\u72b6\u6001\u65f6\uff0c\u6469\u64e6\u529b\u4e3a\u9759\u6469\u64e6\u529b\uff0c\u9759\u6469\u64e6\u529b\u662f\u975e\u7ebf\u6027\u7684\u3002\u968f\u7740\u5916\u529b\u7684\u589e\u52a0\u800c\u589e\u52a0\uff0c\u6700\u5927\u503c\u53d1\u751f\u5728\u8fd0\u52a8\u524d\u7684\u77ac\u95f4\u3002\u7535\u78c1\u8f6c\u77e9\u4e3a\u8d1f\u8f7d\u5236\u52a8\u8f6c\u77e9\u548c\u7a7a\u8f7d\u5236\u52a8\u8f6c\u77e9\u4e4b\u548c\uff0c\u7531\u4e8e\u672c\u7cfb\u7edf\u4e0d\u5e26\u8d1f\u8f7d\uff0c\u56e0\u6b64\u7535\u78c1\u8f6c\u77e9\u4e3a\u7a7a\u8f7d\u5236\u52a8\u8f6c\u77e9\u3002\u7a7a\u8f7d\u5236\u52a8\u8f6c\u77e9\u4e0e\u8f6c\u901f\u4e4b\u95f4\u6b64\u65f6\u662f\u975e\u7ebf\u6027\u7684\u3002\u7535\u78c1\u8f6c\u77e9\u4e0e\u7535\u6d41\u6210\u6b63\u6bd4\uff0c\u7535\u6d41\u53c8\u4e0e\u7535\u538b\u6210\u6b63\u6bd4\uff0c\u56e0\u6b64\u6b64\u65f6\u7535\u538b\u4e0e\u8f6c\u901f\u4e4b\u95f4\u662f\u975e\u7ebf\u6027\u7684\u3002<\/p>\n\n\n\n
    \u5f53\u8f6c\u901f\u57282 000\uff5e4 000 r\uff0fmin\u7ebf\u6027\u5173\u7cfb\u8f83\u597d\uff0c\u5360\u7a7a\u6bd4\u7684\u5fae\u5c0f\u6539\u53d8\u5e26\u6765\u7684\u8f6c\u901f\u6539\u53d8\u8f83\u5927\uff0c\u56e0\u6b64\u5177\u6709\u8f83\u597d\u7684\u8c03\u901f\u6027\u80fd\u3002\u8fd9\u662f\u56e0\u4e3a\u968f\u7740\u8fd0\u52a8\u901f\u5ea6\u7684\u589e\u52a0\uff0c\u6469\u64e6\u529b\u6210\u7ebf\u6027\u7684\u589e\u52a0\uff0c\u6b64\u65f6\u7684\u6469\u64e6\u529b\u4e3a\u7c98\u6027\u6469\u64e6\u529b\u3002\u7c98\u6027\u6469\u64e6\u662f\u7ebf\u6027\u7684\uff0c\u4e0e\u901f\u5ea6\u6210\u6b63\u6bd4\uff0c\u7a7a\u8f7d\u5236\u52a8\u8f6c\u77e9\u4e0e\u901f\u5ea6\u6210\u6b63\u6bd4\uff0c\u4e5f\u5373\u7535\u78c1\u8f6c\u77e9\u4e0e\u7535\u6d41\u6210\u6b63\u6bd4\uff0c\u7535\u6d41\u53c8\u4e0e\u7535\u538b\u6210\u6b63\u6bd4\uff0c\u56e0\u6b64\u6b64\u65f6\u7535\u538b\u4e0e\u8f6c\u901f\u4e4b\u95f4\u662f\u7ebf\u6027\u7684\u3002\u5f53\u8f6c\u901f\u5927\u4e8e4 000 r\uff0fmin\u3002\u7531\u4e8e\u8d85\u51fa\u4e86\u989d\u5b9a\u8f6c\u901f\u6240\u4ee5\u7ebf\u6027\u5ea6\u8f83\u5dee\u4e14\u8c03\u901f\u6027\u80fd\u8f83\u5dee\u3002\u6b64\u65f6\u7528\u4e8c\u6b21\u66f2\u7ebf\u62df\u5408\u7ed3\u679c\u8f83\u597d\uff0c\u56e0\u4e3a\u5f53\u7535\u673a\u9ad8\u901f\u65cb\u8f6c\u65f6\uff0c\u6469\u64e6\u963b\u529b\u5c0f\u5230\u53ef\u4ee5\u5ffd\u7565\uff0c\u6b64\u65f6\u4e3b\u8981\u53d7\u7535\u673a\u98ce\u963b\u578b\u8d1f\u8377\u7684\u5f71\u54cd\uff0c\u5f53\u8fd0\u52a8\u90e8\u4ef6\u5728\u6c14\u4f53\u6216\u6db2\u4f53\u4e2d\u8fd0\u52a8\u65f6\uff0c\u5176\u53d7\u5230\u7684\u6469\u64e6\u963b\u529b\u6216\u6469\u64e6\u963b\u529b\u77e9\u88ab\u79f0\u4e3a\u98ce\u673a\u578b\u8d1f\u8377\u3002\u5bf9\u540c\u4e00\u7269\u4f53\uff0c\u98ce\u963b\u7cfb\u6570\u4e00\u822c\u4e3a\u56fa\u5b9a\u503c\u3002\u963b\u529b\u5927\u5c0f\u4e0e\u901f\u5ea6\u7684\u5e73\u65b9\u6210\u6b63\u6bd4\u3002\u5373\u7a7a\u8f7d\u5236\u52a8\u8f6c\u77e9\u4e0e\u901f\u5ea6\u7684\u5e73\u65b9\u6210\u6b63\u6bd4\uff0c\u4e5f\u5373\u7535\u78c1\u8f6c\u77e9\u4e0e\u901f\u5ea6\u7684\u5e73\u65b9\u6210\u6b63\u6bd4\uff0c\u7535\u78c1\u8f6c\u77e9\u4e0e\u7535\u6d41\u6210\u6b63\u6bd4\uff0c\u7535\u6d41\u53c8\u4e0e\u7535\u538b\u6210\u6b63\u6bd4\uff0c\u56e0\u6b64\u6b64\u65f6\u7535\u538b\u4e0e\u8f6c\u901f\u4e4b\u95f4\u662f\u975e\u7ebf\u6027\u7684\u3002<\/p>\n\n\n\n
\u30003\uff0e2 \u5360\u7a7a\u6bd4\u4e0e\u7aef\u7535\u538b\u5e73\u5747\u503c\u5173\u7cfb<\/p>\n\n\n\n
    3\uff0e2\uff0e1 \u5b9e\u9a8c\u7ed3\u679c<\/em><\/p>\n\n\n\n
    \u62df\u5408\u5360\u7a7a\u6bd4\u4e0e\u7aef\u7535\u538b\u5e73\u5747\u503c\u5173\u7cfb\u66f2\u7ebf\u5982\u56fe4\u6240\u793a\u3002\u76f8\u5173\u7cfb\u6570R-square\uff1a0\uff0e998 4\u3002\u62df\u5408\u66f2\u7ebf\u65b9\u7a0b\u4e3a\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
    \u5982\u56fe4\u6240\u793a\uff0c\u5360\u7a7a\u6bd4\u4e0e\u7aef\u7535\u538b\u5e73\u5747\u503c\u6ee1\u8db3\u629b\u7269\u7ebf\u65b9\u7a0b\u3002\u8fd0\u7528\u79ef\u5206\u5206\u79bb\u7684PID\u7b97\u6cd5\u6539\u53d8\u7535\u673a\u7aef\u7535\u538b\u5e73\u5747\u503c\uff0c\u53ef\u4ee5\u8fd0\u7528\u6b64\u5173\u7cfb\u5f0f\u6539\u53d8\u5360\u7a7a\u6bd4\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86PWM\u8c03\u901f\u3002<\/p>\n\n\n\n
    \u7528\u793a\u6ce2\u5668\u5206\u522b\u6d4b\u51fa\u7535\u538b\u7684\u9876\u7aef\u503cUtop\u4e0e\u5e95\u7aef\u503cUbase\uff0c\u7aef\u7535\u538b\u5e73\u5747\u503cUarg\u6ee1\u8db3\u5173\u7cfb\u5f0f\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
    \u5176\u4e2d\uff1a\u03b1\u4e3a\u5360\u7a7a\u6bd4\u3002<\/p>\n\n\n\n
    \u6b63\u662f\u7531\u4e8e\u6240\u6d4b\u5f97\u7684\u7535\u673a\u7aef\u7535\u538b\u5e95\u7aef\u503cUbase\u4e0d\u4e3a0\uff0c\u6240\u4ee5\u5f97\u51fa\u7684\u5360\u7a7a\u6bd4\u4e0e\u7aef\u7535\u538b\u5e73\u5747\u503c\u4e4b\u95f4\u5173\u7cfb\u66f2\u7ebf\u4e3a\u629b\u7269\u7ebf\u3002\u82e5\u5c06\u7535\u673a\u53d6\u4e0b\uff0c\u76f4\u63a5\u6d4bL298\u7684out1\u4e0eout2\u8f93\u51fa\u7535\u538b\u3002\u6240\u6d4b\u5f97\u7684\u7535\u673a\u7aef\u7535\u538b\u5e95\u7aef\u503cUbase\u7ea6\u4e3a0\uff0c\u6240\u5f97\u7684\u5360\u7a7a\u6bd4\u4e0e\u7aef\u7535\u538b\u5e73\u5747\u503c\u6ee1\u8db3\u7ebf\u6027\u5173\u7cfb\uff0c\u5373\u4ee4\u5f0f(4)\u4e2dUbase\u4e3a0\uff0c\u5f0f(4)\u53d8\u4e3a\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
    3\uff0e2\uff0e2 \u539f\u56e0\u5206\u6790<\/em><\/p>\n\n\n\n
    \u5c06\u7535\u673a\u53d6\u4e0b\u540e\uff0c\u76f4\u63a5\u6d4bL298\u7684\u8f93\u51fa\u7aef\u4e4b\u95f4\u7684\u7535\u538b\uff0c\u5360\u7a7a\u6bd4\u4e0e\u7aef\u7535\u538b\u5e73\u5747\u503c\u6ee1\u8db3\u5173\u7cfb\u5f0f(5)\uff0c\u8bf4\u660e\u6574\u4e2a\u786c\u4ef6\u7535\u8def\u7684\u8bbe\u8ba1\u4ee5\u53ca\u8f6f\u4ef6\u7f16\u7a0b\u7684\u6b63\u786e\u6027\u3002\u4ece\u7535\u673a\u53cd\u7535\u52bf\u89d2\u5ea6\u5206\u6790\uff0c\u5f53\u76f4\u6d41\u7535\u673a\u65cb\u8f6c\u65f6\uff0c\u7535\u67a2\u5bfc\u4f53\u5207\u5272\u6c14\u9699\u78c1\u573a\uff0c\u5728\u7535\u67a2\u7ed5\u7ec4\u4e2d\u4ea7\u751f\u611f\u5e94\u7535\u52a8\u52bf\u3002\u7531\u4e8e\u611f\u5e94\u7535\u52a8\u52bf\u65b9\u5411\u4e0e\u7535\u6d41\u7684\u65b9\u5411\u76f8\u53cd\uff0c\u611f\u5e94\u7535\u52a8\u52bf\u4e5f\u5373\u53cd\u7535\u52bf\u3002\u76f4\u6d41\u7535\u673a\u7684\u7b49\u6548\u6a21\u578b\u5982\u56fe5\u6240\u793a\u3002\u56fe5(a)\u8868\u793a\u7535\u673a\u5de5\u4f5c\u5728\u7535\u52a8\u673a\u72b6\u6001\u3002\u56fe5(b)\u8868\u793a\u7535\u673a\u5de5\u4f5c\u5728\u53d1\u7535\u673a\u72b6\u6001\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
    \u5982\u56fe5(a)\u6240\u793a\uff0c\u7535\u538b\u5e73\u8861\u65b9\u7a0b\u4e3a\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
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\"\"<\/figure>\n\n\n\n
    \u4ee540\uff05\u7684\u5360\u7a7a\u6bd4\u4e3a\u4f8b\uff0c\u7535\u673a\u7aef\u7535\u538bUab\u662f\u6d4b\u91cf\u4e2d\u7684\u7535\u538b\u5e73\u5747\u503cUarg\uff0c\u5176\u503c\u4e3a8\uff0e34 V\uff0c\u6d4b\u91cf\u4e2d\u7684\u7535\u538b\u5e95\u7aef\u503cUbase\u7ea6\u4e3a7 V\u3002\u7531\u5f0f(7)\u53ef\u5f97Ea\u7684\u503c\u8303\u56f4\u5e94\u57286\uff0e34\uff5e7\uff0e84 V\u3002\u7531\u56fe5(b)\u53ef\u89c1\uff0c\u6b64\u65f6Uab\u7684\u503c\u662f\u6d4b\u5f97\u7684\u5e95\u7aef\u503cUbase\u5373\u7535\u673a\u7684\u7535\u52a8\u52bfEa\u4e3a7 V\u3002<\/p>\n\n\n\n
    \u5f53PWM\u5de5\u4f5c\u5728\u4f4e\u7535\u5e73\u72b6\u6001\uff0c\u76f4\u6d41\u7535\u673a\u4e0d\u4f1a\u7acb\u523b\u505c\u6b62\uff0c\u4f1a\u7ee7\u7eed\u65cb\u8f6c\uff0c\u7535\u67a2\u7ed5\u7ec4\u5207\u5272\u6c14\u9699\u78c1\u573a\uff0c\u7535\u673a\u6b64\u65f6\u5de5\u4f5c\u5728\u53d1\u7535\u673a\u72b6\u6001\uff0c\u4ea7\u751f\u611f\u5e94\u7535\u52a8\u52bfE\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
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4 \u7ed3\u8bed<\/p>\n\n\n\n
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<\/a><\/a>\u9644\u5f553<\/h4>\n\n\n\n
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