我看到PID有很多種:增量式 位置式...等等
請問四軸的PID應該要用哪一種比較好??
還是要用到多種PID??
以下這種算哪種PID??
unsigned long lastTime;
double Input, Output, Setpoint;
double errSum, lastErr;
double kp, ki, kd;
void Compute()
{
unsigned long now = millis();
double timeChange = (double)(now - lastTime);
double error = Setpoint - Input;
errSum += (error * timeChange);
double dErr = (error - lastErr) / timeChange;
/*Compute PID Output*/
Output = kp * error + ki * errSum + kd * dErr;
/*Remember some variables for next time*/
lastErr = error;
lastTime = now;
}
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