刚刚看了华中科技大学第一届的一个程序。里面有个PID的函数。D参数是下面的式子:
/* D parameter */ <?xml:namespace prefix = o ns = "urn:schemas-microsoft-com[img][/img]
/* D parameter */ <?xml:namespace prefix = o ns = "urn:schemas-microsoft-com[img][/img]
D = Kd * ( CarState.E0 + 3*CarState.E1 - 3*CarState.E2 - CarState.E3 )/6.0;
CarState.E3 = CarState.E2;
CarState.E2 = CarState.E1;
CarState.E1 = CarState.E0;
return (P+I+D);
其中:
D = Kd * ( CarState.E0 + 3*CarState.E1 - 3*CarState.E2 - CarState.E3 )/6.0;
我对其不太理解。请教大侠们
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