58 lines
1.6 KiB
Python
58 lines
1.6 KiB
Python
import time
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class PID:
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"""
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通用 PID 控制器类
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封装了比例、积分、微分计算以及输出限幅、抗积分饱和功能
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"""
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def __init__(self, kp, ki, kd, max_out, min_out):
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self.kp = kp
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self.ki = ki
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self.kd = kd
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self.max_out = max_out
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self.min_out = min_out
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self.last_err = 0.0
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self.integral = 0.0
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self.last_time = time.time()
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def update(self, error):
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"""
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根据当前误差计算 PID 输出
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"""
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current_time = time.time()
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dt = current_time - self.last_time
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if dt <= 0:
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dt = 0.033 # 默认 30Hz 的更新步长
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# 1. 比例项
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p_out = self.kp * error
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# 2. 积分项（增加累加计算，并对积分做出局部限幅防止初段积分饱和）
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self.integral += error * dt
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i_out = self.ki * self.integral
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# 将积分上限限制在总输出幅值的 20%
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i_out = max(min(i_out, self.max_out * 0.2), self.min_out * 0.2)
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# 3. 微分项
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d_out = self.kd * (error - self.last_err) / dt
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# 4. 总输出合成
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output = p_out + i_out + d_out
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# 5. 总输出限幅
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output = max(min(output, self.max_out), self.min_out)
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# 保存状态供下次使用
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self.last_err = error
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self.last_time = current_time
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return output
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def reset(self):
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"""
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清空历史误差和积分，防止无人机在丢失目标重获后发生指令暴冲
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"""
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self.last_err = 0.0
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self.integral = 0.0
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self.last_time = time.time() |