无人驾驶14：PID控制器实例

ゞ浴缸里的玫瑰 2023-07-10 05:28 7阅读 0赞

这是优达学城PID控制器项目实现，这个调试方法是做项目时，mentor给的建议，实践中，效果还蛮不错~~

# PID Controller #

## the project require to create a PID Controller for the vehicle on the high way. ##

### PID effectons ###

1.  P Controller is a based controller.

when the car ran with small cte, it had a small oscillation. But when the car truned the curve, the cte became larger and the controller began a big oscillation.

1.  D Controller create small cte change rate;
2.  I Controller, It sum a lot of cte;

### To tune a PID, I will take some steps below: ###

step1:create a PID Controller class, and set the parameter of P’s, I’s, D’s to zero;

step2: increase P gain until the response to a disturbance is steady oscillation;

![P.png)][P.png]

step3: Increase the D gain until the oscillations go away;  
![/PD.png][PD.png]

step4: Repeat step2 and step 3, until increasing the D gain does not stop the oscillations;

step5: Increase the I gain until it brings you to the setpoint with the number of oscillations desired(normally zero);

![/PID.png][PID.png]  
实现代码：  
[https://github.com/luteresa/P8-PID-Control.git][https_github.com_luteresa_P8-PID-Control.git]

[P.png]: https://img-blog.csdnimg.cn/20200229214914190.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1dGVyZXNh,size_16,color_FFFFFF,t_70
[PD.png]: https://img-blog.csdnimg.cn/20200229214934553.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1dGVyZXNh,size_16,color_FFFFFF,t_70
[PID.png]: https://img-blog.csdnimg.cn/20200229214951805.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1dGVyZXNh,size_16,color_FFFFFF,t_70
[https_github.com_luteresa_P8-PID-Control.git]: https://github.com/luteresa/P8-PID-Control.git