电机调节非常抖得问题

feng1 · 发表于 2015-7-1 01:46:13

[img]file:///C:\Documents and Settings\Administrator\Application Data\Tencent\Users\530385632\QQ\WinTemp\RichOle\C8K9O850E@19K16V8[3R1C5.png[/img]
/*****************PID  电机控制**************/
void PIDCal(int Proportion,int Derivative,int SetSpeed)
{

int pError=0,iError=0;
CurrentError=SetSpeed-Speed;
pError = CurrentError-LastFirstError;
iError = CurrentError;
PwmAdd=Proportion*iError/10+pError*Derivative;
LastTwoError  = LastFirstError;
LastFirstError = CurrentError;
}
void PidControlMontor(int ControlSpeed)
{
      now_speed();
      PIDCal(SP,SD,ControlSpeed);
      PwmValue +=PwmAdd;
      if(PwmValue>=200) PwmValue=200;
      else if(PwmValue>180) PwmValue=180;
      if(PwmValue<-200) PwmValue=-200;
      if(PwmValue>0)
      Motor1(PwmValue);
      else
      Motor2(-PwmValue);

}
SP和SD的值给8和5.会出现图中抖动的速度。。。有时其他值电机会不转或者转一下就停了，也会跑飞，，请问电机控制是的值怎么调节？