Revision 3:7f0ed54318df, committed 2016-11-08

Comitter:

HangL

Date:

Tue Nov 08 21:19:04 2016 +0000

Parent:

2:0fff4827f3b6

Commit message:

Changed in this revision

--- a/PID.cpp	Sun Nov 06 18:07:12 2016 +0000
+++ b/PID.cpp	Tue Nov 08 21:19:04 2016 +0000
@@ -1,8 +1,8 @@
 #include "PID.h"
 
 
-float Stand_Kc=120.0;float Stand_tauI=0.004;float Stand_tauD=0.0007;
-float Speed_Kc=0.0;float Speed_tauI=0.0;float Speed_tauD=0.0;
+float Stand_Kc=86.4/*84.0*//*120.0*/;float Stand_tauI=0.0288/*0.0028*//*0.004 and if times 10 is better!*/;float Stand_tauD=0.000504/*0.000504*//*0.0007*/;
+float Speed_Kc=/*3.0*/40.0;float Speed_tauI=/*0.015*/0.20;float Speed_tauD=0.0;//20,0.1better  than 26.0,0.13
 //PID::PID(float Kc, float tauI, float tauD, float interval) 
 PID::PID(float interval)
 {
@@ -239,12 +239,20 @@
 }
 float PID::Speedcompute(double Stepper,double Target)
 {
-    static double Bias,PWM,Last_bias;
+    static double Bias,PWM,/*Last_bias,*/Integral_bias;
+    Stepper=Stepper/10;
     Bias=Stepper-Target;
-    PWM+=Speed_Kc*(Bias-Last_bias)+Speed_tauI*Bias;
-    Last_bias=Bias;
+ /////////////////////////////////////   
+    Stepper*=0.7;
+    Stepper+=Bias*0.3;
+    Integral_bias+=Stepper;
+   // Integral_bias+=Bias;
+ //   PWM+=Speed_Kc*(Bias-Last_bias)+Speed_tauI*Bias;
+   PWM=Stepper*Speed_Kc+Integral_bias*Speed_tauI;
+   // Last_bias=Bias;
     return PWM;
 }
+
 float PID::getInMin() {
 
     return inMin_;