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修改PID介入运算阈值为10度

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张开科 2023-03-21 10:36:09 +08:00
parent 6e6a264ef3
commit dec922fbf6
1 changed files with 1 additions and 1 deletions
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app/PID.c
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@ -12,7 +12,7 @@
#define kd 35 //微分 #define kd 35 //微分
//#define pidtime 6 // pid周期= pidtime * 50ms，至少300ms，否则6675无法工作 //#define pidtime 6 // pid周期= pidtime * 50ms，至少300ms，否则6675无法工作
#define iloss 30 //积分分离阈值，双极性 #define iloss 10 //积分分离阈值，双极性
sint16_t xdata ek1[2]; // ek0当前误差，ek1上次误差 sint16_t xdata ek1[2]; // ek0当前误差，ek1上次误差
sint16_t xdata uk1; // pid计算输出值，规格化[0，100] sint16_t xdata uk1; // pid计算输出值，规格化[0，100]