pid通俗易懂的讲解（PID easy to explain）.docVIP

pid通俗易懂的讲解（PID easy to explain） Many students dont know what PID is, because many are not automated students. They open their mouths and ask for information. Its obvious that learning isnt the right way. At least first, you have to understand what PID is. Based on popular understanding, this paper gives some examples of PIDs understanding of car longitudinal control. First of all, why do PID? Due to external reasons, the actual speed of the car is sometimes unstable, which is one, To let the car with the fastest time dada to the target speed, this is the second. Speed control system is closed loop, to meet the stability requirements of the entire system, the speed must be one of the system parameters, which is the third Car speed is certainly not linear, so many external factors, no one can prove to be linear. If its linear, just use P directly. For example, at PWM=60%, the speed is 2M/S, then you want it 3M/S, and you increase the PWM to 90%. Because 90/60=3/2, thats perfect. Perfection is out of the question. So its not linear. How do you control the PWM so that the speed is up to the set speed? Be quick, accurate, and ruthless. Quick and accurate System, this speed adjustment process must be adjusted by an algorithm, the general PID is the algorithm used here. You might think that if you measure the speed by the encoder at 2.0m/s, to reach the speed of 2.3m/s, then Im going to increase the PWM a little bit Is that all right? Yes, how much is the increase in PWM? You have to pass the algorithm because PWM is related to speed, and for the whole system, who? I do not know! To try a little bit, plus 1%, not enough, plus 1% or not enough, then the third time you will add 1%? Its likely to add 2%. Get a PID expression by three parameters: PWM=a * V1+b * V2+c * Delta Delta Delta V3, a B C is through the long expansion formula of PID Then, after the reduction of the number of delta V1, Delta V2, Delta V3 after the first adjustment after the speed difference, second times