PID of sunflower classic

1、 First, give the positional pattern PID Mathematical formula of , There are many formulas online , Look with the table ！

2、 About integral coefficient and differential coefficient 、 Most of the calculation formulas given online are shown in the figure below , The general unit of sampling time in the system is ms, So we need to turn it into s , And integral time Unity of differential time units , If the integral coefficient and differential coefficient are simplified , It can be used directly Ki  Kd Instead of , The time debugging effect depends on the site conditions .

3、 Integral anti saturation and integral separation 、 What is integral saturation and integral separation , You can search for , Many online Liezi spoke very well .