Description:
float Kp
float Ti
float T
float Td
float a0
float a1
float a2
float ek
float ek1
float ek2
float uk
float uk1
float ad_just
Ti=
T=
Td=；
a0=Kp*(1+T/Ti+Td/T)
ek1=0
ek2=0
uk=0
uk1=0
ad_just=0
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File list (Check if you may need any files):
PID算法.txt
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