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我正在寻找一个用 Java 实现的 PID 控制器，我发现了这个：

https://code.google.com/p/frcteam443/source/browse/trunk/2010_Post_Season/Geisebot/src/freelancelibj/PIDController.java?r=17

因此，据我所知，我以这种方式使用它：

package lol.feedback;

public class dsfdsf {

    public static void main(String[] args) throws InterruptedException {
        final PIDController pidController = new PIDController(1, 1, 1);
        pidController.setInputRange(0, 200); // The input limits
        pidController.setOutputRange(50, 100); // The output limits
        pidController.setSetpoint(120); // My target value (PID should minimize the error between the input and this value)
        pidController.enable();
        double input = 0;
        double output = 0;
        while (true) {
            input = output + 30;
            pidController.getInput(input);
            output = pidController.performPID();
            System.out.println("Input: " + input + " | Output: " + output + " | Error: " + pidController.getError());

            Thread.sleep(1000);
        }
    }

}

但他从来没有稳定过。他的行为根本不像 PID……这是我得到的输出：

Input: 30.0 | Output: 100.0 | Error: 90.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0
Input: 80.0 | Output: 100.0 | Error: 40.0
Input: 130.0 | Output: 50.0 | Error: -10.0

有人可以帮我告诉我我错过了什么吗？

谢谢！

4

1 回答 1

1

首先，尝试使用另一组 PID 参数 - 例如 final PIDController pidController = new PIDController(10, 1, 0.5); 第一个参数负责闭环系统的增益。二是负责消除输出上的固定误差。三是负责动态控制。

第二件事 - 实际信号输出可能总是超出限制，因此它采用最小/最大值。

第三，为什么你总是在输出中加 30 并分配给输入？

于 2015-04-09T22:53:50.543 回答