摘要:
首先先要明确,增量式pid和位置式pid本质是一样的,本次增量式pid的输出是由本次位置式pid的输出减去上次位置式的输出得到的。对比一下 位置式:u(k) =Kp*e(k)+Ki*∑e(k)+Kd[e(k)-e(k-1)] 增量式:Δu(k) =Kp[e(k)-e(k-1)]+Ki*e(k)+Kd 阅读全文
摘要:
The QRE1113 is a small IR reflectance sensor. This sensor is often used in line following robots because, if it can sense if a surface is white or bla 阅读全文