求助PID调试

c627933142 · 发表于 2018-8-3 14:27:18

本帖最后由 c627933142 于 2018-8-4 12:31 编辑

调内环有一阵子了外环还没开始
现在的问题是只有内环的情况下飞机往一边歪歪的时候一卡一卡的 3秒左右就歪成90度了
P值大了一点就抖小一点感觉没力气一种说法是飞机平衡位置轻微抖动就是调好了还有一种说法是飞机缓慢往一边倾斜但不抖动就好了应该信哪种啊？
I值是定角度能力但是加小了没用大了就抖
D值不知道调到什么程度就好
浅谈四轴PID的那文章看了又看但是不知道三个参数分别让飞机表现出什么现象才叫调好？
望高人指点一番

c627933142 · 发表于 2018-8-3 14:27:19

13428153731 发表于 2018-12-4 11:09
解决了吗？

早解决了因为电机与螺旋桨同轴度太低高速旋转时机架剧烈抖动干扰到了角速度数据的反馈了
后来换了大疆的自锁浆又换了一副碳纤维机架才保持了高度的稳定性后来我调了将近一个月的参数我两个小时就调好了

c627933142 · 发表于 2018-8-3 14:27:44

float PID_Postion_Cal(float target,float measure,float p,float i,float d)
{
float out;
error=measure-target;
Integ+=error;
if(Integ>400)
Integ=400;
if(Integ<=-400)
Integ=-400;
Deriv=error-last_error;
out=p*error+i*Integ+d*Deriv;
last_error=error;
return out;
}

void PID(struct _out_angle *angle,struct _gyro *gyro_filter)
{
Pitch_shell_out=PID_Postion_Cal(0,angle->pitch,Pitch_shell_kp,Pitch_shell_ki,Pitch_shell_kd);
Roll_shell_out=PID_Postion_Cal(0,angle->roll,Roll_shell_kp,Roll_shell_ki,Pitch_shell_kd);
Yaw_shell_out=PID_Postion_Cal(0,angle->yaw,Yaw_shell_kp,Roll_shell_ki,Roll_shell_kd);

Pitch=PID_Postion_Cal(Pitch_shell_out,gyro_filter->y,Pitch_core_kp,Pitch_core_ki,Pitch_core_kd);
Roll=PID_Postion_Cal(Roll_shell_out,gyro_filter->x,Roll_core_kp,Roll_core_ki,Roll_core_kd);
Yaw=PID_Postion_Cal(Yaw_shell_out,gyro_filter->z,Yaw_core_kp,Yaw_core_ki,Yaw_core_kd);

thro1=(u16)(temp+Pitch+Roll-Yaw);
thro2=(u16)(temp-Pitch+Roll+Yaw);
thro3=(u16)(temp-Pitch-Roll-Yaw);
thro4=(u16)(temp+Pitch-Roll+Yaw);

if(thro1>1500)thro1=0;
if(thro2>1500)thro2=0;
if(thro3>1500)thro3=0;
if(thro4>1500)thro4=0;

Motor_Out(thro1,thro2,thro3,thro4);
Send_MotoPWM(thro1-1000,thro2-1000,thro3-1000,thro4-1000,Pitch_shell_out+200,Pitch+500,Yaw,0);

}
贴下我的PID程序