from pid import PID
pid = PID(kp=1.0, ki=0.0, kd=0.0,
set_pressure=0.5,
thresholds=(-10, 10),
throttle_limits=((30, 60), (40, 65), (50, 70)),
output_limits=(None, None),
auto_mode=True)
pid(input_gear=1, input_pressure=0.4, input_angle=59)完整的API文档在 这里.
pip install mix-pid
每次的调用反馈返回此次推荐的油嘴档位和风门角度值
output_gear, output_angle = pid(input_pressure, input_angle)设置目标压力
pid.set_pressure = 0.5设置Kp, Ki, Kd系数
pid.Ki = 1.0
pid.tunings = (1.0, 0.2, 0.4)设置判断决策的阈值
pid.thresholds=(-10, 10)设置燃烧器不同档位的风门角度限制
pid.throttle_limits=((30, 60), (40, 65), (50, 70))设置PID输出限制避免出现integral windup
pid.output_limits = (0, 10) # output value will be between 0 and 10
pid.output_limits = (0, None) # output will always be above 0, but with no upper bound设置手动/自动模式
pid.auto_mode=True
pid.auto_mode=FalseLicensed under the MIT License.