请各位前辈指点串级pid方面的知识
想找四轴的串级pid程序，没有找到，就照着资料写了一个，希望各位前辈帮我指正一下错误，就是很初级的一个程序。程序目的是：翻滚角的串级pid控制，也希望各位前辈能分享一些串级pid或者四轴姿态控制的pid能让我学习一下，谢谢啦。/***************************************************************************************************
***_tar:遥控器目标角度
roll/float/pitch:当前角度值
***_speed:当前角速度值
***************************************************************************************************/
void pid_control(float roll_tar,float pitch_tar,float yaw_tar,float roll,float pitch,float yaw,float roll_speed,float pitch_speed,float yaw_speed)
{
///////////////////////////////roll角度外环·////////////////////////////////
roll_pid.err = roll_tar - roll ;//偏差
roll_pid.P_out = KP_ROLL * roll_pid.err ;//p项
roll_pid.D_out = KD_ROLL * angle_speed_data ;//D
roll_pid.I_out = KI_ROLL * roll_pid.err + roll_I_last ;//I
roll_pid.I_out=CH_limit(roll_pid.I_out,ROLL_I_min,ROLL_I_max);//限幅
roll_I_last=roll_pid.I_out;
roll_pid.out = roll_pid.P_out - roll_pid.D_out + roll_pid.I_out ;
///////////////////////////////roll角速度内环·/////////////////////////////////
roll_speed_pid.err=roll_pid.out-roll_speed//
roll_speed_pid.P_out=KP_ROLL_SPEED*roll_speed_pid.err;
roll_speed_pid.D_out = KD_ROLL_SPEED * (roll_speed_pid.err-roll_speed_pid.last_err);
roll_speed_pid.last_err=roll_speed_pid.err;
roll_speed_pid.I_out = KI_ROLL_SPEED * roll_pid_speed.err + roll_speed_I_last ;
roll_speed_pid.I_out=CH_limit(roll_speed_pid.I_out,ROLL_speed_I_min,ROLL_speed_I_max);
roll_speed_I_last=roll_speed_pid.I_out;
}
我也在学习，刚刚看了你的程序 有点了解了，不知道现在的楼主学的怎么样了，能在分享一下你的经验吗
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