ittuann/enterprise_e

第十六届智能车竞赛-国家级一等奖-嵌入式控制开源(恩智浦杯/飞思卡尔杯)-全国第14名 🏆

Hi there~ 👋 You just found airwish!

It's great to meet you here! :D

I want to be an interesting person, creating things that can become memories for others~ ✨

🆔 ID: ittuann [aɪ.tweɪn] | airwish

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Quick Insights

• 🌞 Participated in Tencent Summer of Code 2023, contributing significantly to @OpenAtomFoundation/TencentOS-tiny, earning the program's highest honor "Tencent Open Source Contributor" award.
• 💡 Recognized as the "Specialistic Blogger" within Alibaba Cloud Developer Community.
• 🏢 Former summer internship at TCL Group as a software engineer.

Coding Journey

• 🔭 Currently working on Embedded & Robotics, and want to learn everything interesting.
• 💫 Embarked on my coding voyage as a self-taught programmer~
• 🌱 Deeply passionate about open source, as my past self-taught programming experience drives my desire to give back and contribute to the open source community that has helped me so much!

About Me

• ❤️ I like raising 🐈, eating 🍞, cycling 🚵, sleeping in 🛌 and watching ACGN 📺.
• 🌸 Programming with love & magic~
• 📝 Consider exploring my LinkedIn Profile! You can also dive into my Resume.
• 💌 Feel free to reach out to me anything via email at [email protected]

Stats

GPG key ID: A882 0959 29EB E14C ([email protected], Exp: 2026-07-01)

enterprise_e's Issues

[Ask] PID Tune

Describe your question

问题1 增量式PID中I的处理

注意PID Tuner计算连续型时的积分项I需要乘上系统的采样时间（单位秒）才是常规位置式PID的参数

请问如果是增量式PID，得出的I还需要做乘上系统的采样时间或者其它的操作吗？

问题2 模块的实际选用类型

（离散型其实应该使用的是Discrete PID Controller和Discrete Transfer Fcn

教程中选用的是普通的PID Controller和Transfer Fcn。对于现实调试智能车竞赛中电机来说，应该将Simulink建立的PID模型的模块换成Discrete PID Controller和Discrete Transfer Fcn才能得到更正确的结果？

问题3 Time domain离散和连续

对于智能车系统来说，通常是在定时中断中读取编码器和输出电机的PID，这样这个系统都是离散型的，那么在Matlab PID Controller中的Time domain是否可以直接选择Discrete-time离散型进行PID Tune？如果选择离散型，此时的Sample time (-1 for inherited)：如何正确设置，是设置为定时中断的时间吗？

System Info

STC32F单片机 F车模

Additional context

看了大佬给出的教程，受益匪浅👍，但仍有一些问题，希望可以解答🥰

Validations

• Remember to follow the community guidelines and be friendly.

[Ask]

Describe your question

我想问一下，在b站视频当中，通过导入数据，用matlab系统模式识别了一个2极点1零点的传递函数，然后再用这个传递函数，在matlab仿真当中仿真出了好的PID参数。但是在C语言文件当中这个过程是通过哪一个代码来实现的，或者是在你写的c语言中，pid的控制对象是什么，我理解的是：将采集的输入，输出数据拟合成传递函数过程用c语言表示出来，再用c语言表示pid控制这个传递函数，我也想请问一下你的pid控制过程

System Info

COde的c语言文件中哪一个是我询问问题的解答处

Additional context

No response

Validations

• Remember to follow the community guidelines and be friendly.