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请问闭环PID出来的正弦波是类似阶梯波但是有台阶状且有饱和现象是什么原因。



用闭环PID调节占空比,和正弦表进行比较。

但是最后出来的波形是

请问会有哪些原因吗?PID参数不对我也不知道往什么方向调。