VB 增量式 PID 算法的一个问题

发布时间：2020-12-17 07:57:08 所属栏目：百科来源：网络整理

导读：Option Explicit Dim EK1 As Single,EK2 As Single Dim U As Single Dim Uk As Single,Uk1 As Single,A As Single,B As Single,C As Single,Ek As Single Dim Ti As Integer,Td As Integer,Kp As Integer Dim SP As Single,PV As Single Private Sub Command1

Option Explicit Dim EK1 As Single,EK2 As Single Dim U As Single Dim Uk As Single,Uk1 As Single,A As Single,B As Single,C As Single,Ek As Single Dim Ti As Integer,Td As Integer,Kp As Integer Dim SP As Single,PV As Single Private Sub Command1_Click() Timer1.Enabled = True End Sub Private Sub Command2_Click() End End Sub Private Sub Timer1_Timer() Ti = Val(Text1) '读取积分时间值 Td = Val(Text2) '读取微分时间值 Kp = Val(Text3) '读取比例值 SP = Val(Text4) '设定值 Text5.Text = Val(VScroll1.Value) PV = Val(Text5) '模拟的反馈值 If Ti = 0 Then A = Kp * (1 + Td) Else A = Kp * (1 + 1 / Ti + Td) B = Kp * (1 + 2 * Td) C = Kp * Td Ek = SP - PV Uk = A * Ek - B * EK1 + C * EK2 Text6.Text = Uk '输出显示 End If EK2 = EK1 EK1 = Ek End Sub 求助各位版主，这是我编写的PID控制程序，EK表示当前的测量误差，EK1是上次测量误差，EK2是上上次误差，然后PID算法根据这三次误差输出控制量UK，正确的功能应该是根据系统设定值和实际输出值求得Ek = SP - PV,然后将这个的EK值传递给EK1，下一次测量值编程Ek，以此类推！我现在的问题是，无法将当前的测量误差传递给上一次，按着我编的程序，这三次误差实际上都等于当前的误差，求各位版主看一下问题出在哪儿！

（编辑：李大同）

【声明】本站内容均来自网络，其相关言论仅代表作者个人观点，不代表本站立场。若无意侵犯到您的权利，请及时与联系站长删除相关内容!