PID算法图形 python
# -*- coding: utf-8 -*- class PID: def __init__(self, P=0.2, I=0.0, D=0.0): self.Kp = P self.Ki = I self.Kd = D self.sample_time = 0.00 self.current_time = time.time() self.last_time = self.current_time self.clear() def clear(self): self.SetPoint = 0.0 self.PTerm = 0.0 self.ITerm = 0.0 self.DTerm = 0.0 self.last_error = 0.0 self.int_error = 0.0 self.windup_guard = 20.0 self.output = 0.0 def update(self, feedback_value): error = self.SetPoint - feedback_value self.current_time = time.time() delta_time = self.current_time - self.last_time delta_error = error - self.last_error if (delta_time >=