之前的闭环控制程序只调节了I参数，这次的程序写了完整的增量式PID算法，电机无负载，实测P=10，I=2时响应快并且无明显抖动。

代码如下

from machine import *
import time
from moto import *
import random
'''
本程序使用增量式PID，公式为
Pwm+=Kp[e(k)-e(k-1)]+Ki*e(k)+Kd[e(k)-2e(k-1)+e(k-2)]
e(k)：本次偏差
e(k-1)：上一次的偏差
e(k-2)：上上次的偏差
Kp：比例项参数
Ki：积分项参数
Kd：微分项参数
Pwm：代表增量输出
'''
# 编码器初始化
pin17 = Pin(17, Pin.IN)
pin5 = Pin(5, Pin.IN)   
encoder = encoder(pin17, pin5, 0)   # 参数(编码器A相引脚，编码器B相引脚，定时器序号)# 电机初始化
motor=PWM(Pin(15),freq=1000,duty=0)
duty=0
target=50
count=0
offset=0 #e(k)
offset1=0 #e(k-1)
offset2=0 #e(k-2)
p=10 #PID参数
i=2
d=0while True:count+=1speed = encoder.read()offset2=offset1 #记录上一次偏差offset1=offsetoffset=target-speedadjustmentP=offset-offset1adjustmentP*=padjustmentI=offsetadjustmentI*=iadjustmentD=offset-offset1-offset1+offset2adjustmentD*=dadjustment=adjustmentP+adjustmentI+adjustmentDduty+=adjustmentif duty<0:duty=0elif duty>1023:duty=1023motor.duty(duty)print(target,speed,offset,duty)time.sleep(0.05)if count==40:count=0target=random.randint(0,70)

外设驱动

moto.py

from machine import *
import timeclass moto:def __init__(self, pwm0, pwm1):self.pwm0 = pwm0self.pwm1 = pwm1def setPwm(self, pwm):pwm = int(pwm)if pwm < 0:self.pwm0.duty(-pwm)self.pwm1.duty(0)else:self.pwm0.duty(0)self.pwm1.duty(pwm)class encoder:def __init__(self, pin0, pin1, i):self.pin0 = pin0self.pin0.irq(trigger=Pin.IRQ_RISING, handler=self.handler0)self.pin1 = pin1self.pin0.irq(trigger=Pin.IRQ_RISING, handler=self.handler1)self.counter = 0self.speed = 0self.tim = Timer(i)self.tim.init(period=50, callback=self.timHandler)def handler0(self, a):if self.pin0.value():self.counter += 1else:self.counter -= 1def handler1(self, a):if not self.pin1.value():self.counter += 1else:self.counter -= 1def timHandler(self, t):self.speed = self.counterself.counter = 0def read(self):return self.speed