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C2000WARE: 关于NLPID

Part Number: C2000WARE

问题1. 如上图所示,rk减yk是偏差信号,请问为什么要乘以0.5呢

上图为controSUIT里面的串行PI,对于偏差信号,并没有乘以0.5

问题2. NLPID的输出范围应该也是归一化的-1.0~+1.0吧

按照这个理解,应该是把±1.0的输出单位先÷2调整到±0.5,然后再加0.5的偏置将控制器输出调整到0到1.0的范围最后赋值给占空比变量