PID算法STM32实现_算法_STM32_其他

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6257ee94bd8c6f2306dcb9f7/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6257ee94bd8c6f2306dcb9f7/bg1.jpg"><div class="c x0 y1 w0 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">【电子设计吧】<span class="_ _0"> </span><span class="ff2 fc1">D<span class="_ _1"></span>EMO<span class="_ _2"></span>K<span class="_ _1"></span>_D<span class="_ _1"></span>EV<span class="_ _2"></span>ICE</span></div></div><div class="t m0 x2 h4 y3 ff1 fs1 fc1 sc1 ls0 ws0">经典的滤波算法<span class="_ _3"> </span><span class="ff3 sc0">(</span></div><div class="t m0 x3 h5 y4 ff3 fs1 fc1 sc0 ls0 ws0">(</div><div class="t m0 x3 h5 y5 ff3 fs1 fc1 sc0 ls0 ws0">(</div><div class="t m0 x4 h4 y3 ff3 fs1 fc1 sc0 ls0 ws0">(<span class="_ _4"> </span><span class="ff1 sc1">转<span class="_ _5"> </span></span>)</div><div class="t m0 x5 h5 y4 ff3 fs1 fc1 sc0 ls0 ws0">)</div><div class="t m0 x5 h5 y5 ff3 fs1 fc1 sc0 ls0 ws0">)</div><div class="t m0 x6 h5 y3 ff3 fs1 fc1 sc0 ls0 ws0">)</div><div class="t m1 x7 h6 y6 ff4 fs2 fc1 sc0 ls0 ws0">1</div><div class="t m1 x7 h6 y7 ff4 fs2 fc1 sc0 ls0 ws0">1</div><div class="t m1 x7 h6 y8 ff4 fs2 fc1 sc0 ls0 ws0">1</div><div class="t m1 x7 h6 y6 ff4 fs2 fc1 sc0 ls0 ws0">1</div><div class="t m0 x8 h7 y6 ff1 fs2 fc1 sc1 ls0 ws0">、限幅滤波法<span class="_ _6"></span>（又称程<span class="_ _6"></span>序判断滤<span class="_ _6"></span>波法）</div><div class="t m0 x9 h8 y9 ff2 fs3 fc1 sc0 ls0 ws0">A<span class="_ _7"> </span><span class="ff1">、方法：</span></div><div class="t m0 xa h8 ya ff1 fs3 fc1 sc0 ls0 ws0">根据经验判断，确定两次采样允许的最大偏差值（设为<span class="_ _8"> </span><span class="ff2">A<span class="_ _7"> </span></span>）</div><div class="t m0 xa h8 yb ff1 fs3 fc1 sc0 ls0 ws0">每次检测到新值时判断：</div><div class="t m0 xa h8 yc ff1 fs3 fc1 sc0 ls0 ws0">如果本次值与上次值之差<span class="_ _9"> </span><span class="ff2"><=A<span class="_ _2"></span>,<span class="_ _a"> </span></span>则本次值有效</div><div class="t m0 xa h8 yd ff1 fs3 fc1 sc0 ls0 ws0">如果本次值与上次值之差<span class="_ _9"> </span><span class="ff2">>A,<span class="_ _b"> </span></span>则本次值无效<span class="_ _0"> </span><span class="ff2">,<span class="_ _c"> </span></span>放弃本次值</div><div class="t m2 xb h9 yd ff2 fs3 fc1 sc0 ls0 ws0">,</div><div class="t m0 xc h8 yd ff1 fs3 fc1 sc0 ls0 ws0">用上次值代替本次值</div><div class="t m0 x9 h8 ye ff2 fs3 fc1 sc0 ls0 ws0">B<span class="_ _d"> </span><span class="ff1">、优点：</span></div><div class="t m0 xa h8 yf ff1 fs3 fc1 sc0 ls0 ws0">能有效克服因偶然因素引起的脉冲干扰</div><div class="t m0 x9 h8 y10 ff2 fs3 fc1 sc0 ls0 ws0">C<span class="_ _d"> </span><span class="ff1">、缺点</span></div><div class="t m0 xa h8 y11 ff1 fs3 fc1 sc0 ls0 ws0">无法抑制那种周期性的干扰</div><div class="t m0 xa h8 y12 ff1 fs3 fc1 sc0 ls0 ws0">平滑度差</div><div class="t m1 x7 h6 y13 ff4 fs2 fc1 sc0 ls0 ws0">2</div><div class="t m1 x7 h6 y14 ff4 fs2 fc1 sc0 ls0 ws0">2</div><div class="t m1 x7 h6 y15 ff4 fs2 fc1 sc0 ls0 ws0">2</div><div class="t m1 x7 h6 y13 ff4 fs2 fc1 sc0 ls0 ws0">2</div><div class="t m0 x8 h7 y13 ff1 fs2 fc1 sc1 ls0 ws0">、中位值滤波<span class="_ _6"></span>法</div><div class="t m0 x9 h8 y16 ff2 fs3 fc1 sc0 ls0 ws0">A<span class="_ _7"> </span><span class="ff1">、方法：</span></div><div class="t m0 xa h8 y17 ff1 fs3 fc1 sc0 ls0 ws0">连续采样<span class="_ _e"> </span><span class="ff2">N<span class="_ _f"> </span></span>次（<span class="_ _10"> </span><span class="ff2">N<span class="_ _11"> </span></span>取奇数）</div><div class="t m0 xa h8 y18 ff1 fs3 fc1 sc0 ls0 ws0">把<span class="_ _12"> </span><span class="ff2">N<span class="_ _f"> </span></span>次采样值按大小排列</div><div class="t m0 xa h8 y19 ff1 fs3 fc1 sc0 ls0 ws0">取中间值为本次有效值</div><div class="t m0 x9 h8 y1a ff2 fs3 fc1 sc0 ls0 ws0">B<span class="_ _d"> </span><span class="ff1">、优点：</span></div><div class="t m0 xa h8 y1b ff1 fs3 fc1 sc0 ls0 ws0">能有效克服因偶然因素引起的波动干扰</div><div class="t m0 xa h8 y1c ff1 fs3 fc1 sc0 ls0 ws0">对温度、液位的变化缓慢的被测参数有良好的滤波效果</div><div class="t m0 x9 h8 y1d ff2 fs3 fc1 sc0 ls0 ws0">C<span class="_ _d"> </span><span class="ff1">、缺点：</span></div><div class="t m0 xa h8 y1e ff1 fs3 fc1 sc0 ls0 ws0">对流量、速度等快速变化的参数不宜</div><div class="t m1 x7 h6 y1f ff4 fs2 fc1 sc0 ls0 ws0">3</div><div class="t m1 x7 h6 y20 ff4 fs2 fc1 sc0 ls0 ws0">3</div><div class="t m1 x7 h6 y21 ff4 fs2 fc1 sc0 ls0 ws0">3</div><div class="t m1 x7 h6 y1f ff4 fs2 fc1 sc0 ls0 ws0">3</div><div class="t m0 x8 h7 y1f ff1 fs2 fc1 sc1 ls0 ws0">、算术平均滤<span class="_ _6"></span>波法</div><div class="t m0 x9 h8 y22 ff2 fs3 fc1 sc0 ls0 ws0">A<span class="_ _7"> </span><span class="ff1">、方法：</span></div><div class="t m0 xa h8 y23 ff1 fs3 fc1 sc0 ls0 ws0">连续取<span class="_ _13"> </span><span class="ff2">N<span class="_ _f"> </span></span>个采样值进行算术平均运算</div><div class="t m0 xa h8 y24 ff2 fs3 fc1 sc0 ls0 ws0">N<span class="_ _11"> </span><span class="ff1">值较大时：信号平滑度较高，但灵敏度较低</span></div><div class="t m0 xa h8 y25 ff2 fs3 fc1 sc0 ls0 ws0">N<span class="_ _11"> </span><span class="ff1">值较小时：信号平滑度较低，但灵敏度较高</span></div><div class="t m0 xa h8 y26 ff2 fs3 fc1 sc0 ls0 ws0">N<span class="_ _11"> </span><span class="ff1">值的选取：一般流量，<span class="_ _14"> </span></span>N=12<span class="_ _15"> </span><span class="ff1">；压力：<span class="_ _16"> </span></span>N=4</div><div class="t m0 x9 h8 y27 ff2 fs3 fc1 sc0 ls0 ws0">B<span class="_ _d"> </span><span class="ff1">、优点：</span></div><div class="t m0 xa h8 y28 ff1 fs3 fc1 sc0 ls0 ws0">适用于对一般具有随机干扰的信号进行滤波</div><div class="t m0 xa h8 y29 ff1 fs3 fc1 sc0 ls0 ws0">这样信号的特点是有一个平均值，信号在某一数值范围附近上下波动</div><div class="t m0 x9 h8 y2a ff2 fs3 fc1 sc0 ls0 ws0">C<span class="_ _d"> </span><span class="ff1">、缺点：</span></div><div class="t m0 xa h8 y2b ff1 fs3 fc1 sc0 ls0 ws0">对于测量速度较慢或要求数据计算速度较快的实时控制不适用</div><div class="t m0 xa h8 y2c ff1 fs3 fc1 sc0 ls0 ws0">比较浪费<span class="_ _e"> </span><span class="ff2">R<span class="_ _2"></span>AM</span></div><div class="t m1 x7 h6 y2d ff4 fs2 fc1 sc0 ls0 ws0">4</div><div class="t m1 x7 h6 y2e ff4 fs2 fc1 sc0 ls0 ws0">4</div><div class="t m1 x7 h6 y2f ff4 fs2 fc1 sc0 ls0 ws0">4</div><div class="t m1 x7 h6 y2d ff4 fs2 fc1 sc0 ls0 ws0">4</div><div class="t m0 x8 h7 y2d ff1 fs2 fc1 sc1 ls0 ws0">、递推平均滤<span class="_ _6"></span>波法（又<span class="_ _6"></span>称滑动平<span class="_ _6"></span>均滤波法<span class="_ _6"></span>）</div><div class="t m0 x9 h8 y30 ff2 fs3 fc1 sc0 ls0 ws0">A<span class="_ _7"> </span><span class="ff1">、方法：</span></div><div class="t m0 xa h8 y31 ff1 fs3 fc1 sc0 ls0 ws0">把连续取<span class="_ _e"> </span><span class="ff2">N<span class="_ _f"> </span></span>个采样值看成一个队列</div><a class="l" rel='nofollow' onclick='return false;'><div class="d m3"></div></a></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6257ee94bd8c6f2306dcb9f7/bg2.jpg"><div class="c x0 y1 w0 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">【电子设计吧】<span class="_ _0"> </span><span class="ff2 fc1">D<span class="_ _1"></span>EMO<span class="_ _2"></span>K<span class="_ _1"></span>_D<span class="_ _1"></span>EV<span class="_ _2"></span>ICE</span></div></div><div class="t m0 xa h8 y32 ff1 fs3 fc1 sc0 ls0 ws0">队列的长度固定为<span class="_ _17"> </span><span class="ff2">N</span></div><div class="t m0 xa h8 y33 ff1 fs3 fc1 sc0 ls0 ws0">每次采样到一个新数据放入队尾<span class="_ _18"> </span><span class="ff2">,<span class="_ _19"> </span></span>并扔掉原来队首的一次数据<span class="_ _1a"> </span><span class="ff2">.<span class="_ _1"></span>(<span class="_ _1b"> </span><span class="ff1">先进先出原则<span class="_ _0"> </span></span>)</span></div><div class="t m0 xa h8 y34 ff1 fs3 fc1 sc0 ls0 ws0">把队列中的<span class="_ _1c"> </span><span class="ff2">N<span class="_ _f"> </span></span>个数据进行算术平均运算<span class="_ _9"> </span><span class="ff2">,<span class="_ _19"> </span></span>就可获得新的滤波结果</div><div class="t m0 xa h8 y35 ff2 fs3 fc1 sc0 ls0 ws0">N<span class="_ _11"> </span><span class="ff1">值的选取：流量，<span class="_ _1d"> </span></span>N=12<span class="_ _15"> </span><span class="ff1">；压力：<span class="_ _16"> </span></span>N=4<span class="_ _1e"> </span><span class="ff1">；液面，<span class="_ _16"> </span></span>N=4~<span class="_ _1"></span>12<span class="_ _1f"> </span><span class="ff1">；温度，<span class="_ _16"> </span></span>N=1~<span class="_ _1"></span>4</div><div class="t m0 x9 h8 y36 ff2 fs3 fc1 sc0 ls0 ws0">B<span class="_ _d"> </span><span class="ff1">、优点：</span></div><div class="t m0 xa h8 y37 ff1 fs3 fc1 sc0 ls0 ws0">对周期性干扰有良好的抑制作用，平滑度高</div><div class="t m0 xa h8 y38 ff1 fs3 fc1 sc0 ls0 ws0">适用于高频振荡的系统</div><div class="t m0 x9 h8 y39 ff2 fs3 fc1 sc0 ls0 ws0">C<span class="_ _d"> </span><span class="ff1">、缺点：</span></div><div class="t m0 xa h8 y3a ff1 fs3 fc1 sc0 ls0 ws0">灵敏度低</div><div class="t m0 xa h8 y3b ff1 fs3 fc1 sc0 ls0 ws0">对偶然出现的脉冲性干扰的抑制作用较差</div><div class="t m0 xa h8 y3c ff1 fs3 fc1 sc0 ls0 ws0">不易消除由于脉冲干扰所引起的采样值偏差</div><div class="t m0 xa h8 y3d ff1 fs3 fc1 sc0 ls0 ws0">不适用于脉冲干扰比较严重的场合</div><div class="t m0 xa h8 y3e ff1 fs3 fc1 sc0 ls0 ws0">比较浪费<span class="_ _e"> </span><span class="ff2">R<span class="_ _2"></span>AM</span></div><div class="t m1 x7 h6 y3f ff4 fs2 fc1 sc0 ls0 ws0">5</div><div class="t m1 x7 h6 y40 ff4 fs2 fc1 sc0 ls0 ws0">5</div><div class="t m1 x7 h6 y41 ff4 fs2 fc1 sc0 ls0 ws0">5</div><div class="t m1 x7 h6 y3f ff4 fs2 fc1 sc0 ls0 ws0">5</div><div class="t m0 x8 h7 y3f ff1 fs2 fc1 sc1 ls0 ws0">、中位值平均<span class="_ _6"></span>滤波法（<span class="_ _6"></span>又称防脉<span class="_ _6"></span>冲干扰平<span class="_ _6"></span>均滤波<span class="_ _6"></span>法）</div><div class="t m0 x9 h8 y42 ff2 fs3 fc1 sc0 ls0 ws0">A<span class="_ _7"> </span><span class="ff1">、方法：</span></div><div class="t m0 xa h8 y43 ff1 fs3 fc1 sc0 ls0 ws0">相当于<span class="_ _20"> </span><span class="ff2">“<span class="_ _21"> </span></span>中位值滤波法<span class="_ _0"> </span><span class="ff2">”<span class="_ _21"> </span>+<span class="_ _22"> </span>“<span class="_ _23"> </span></span>算术平均滤波法<span class="_ _24"> </span><span class="ff2">”</span></div><div class="t m0 xa h8 y44 ff1 fs3 fc1 sc0 ls0 ws0">连续采样<span class="_ _e"> </span><span class="ff2">N<span class="_ _f"> </span></span>个数据，去掉一个最大值和一个最小值</div><div class="t m0 xa h8 y45 ff1 fs3 fc1 sc0 ls0 ws0">然后计算<span class="_ _e"> </span><span class="ff2">N-2<span class="_ _25"> </span></span>个数据的算术平均值</div><div class="t m0 xa h8 y46 ff2 fs3 fc1 sc0 ls0 ws0">N<span class="_ _11"> </span><span class="ff1">值的选取：<span class="_ _26"> </span></span>3~<span class="_ _1"></span>14</div><div class="t m0 x9 h8 y47 ff2 fs3 fc1 sc0 ls0 ws0">B<span class="_ _d"> </span><span class="ff1">、优点：</span></div><div class="t m0 xa h8 y48 ff1 fs3 fc1 sc0 ls0 ws0">融合了两种滤波法的优点</div><div class="t m0 xa h8 y49 ff1 fs3 fc1 sc0 ls0 ws0">对于偶然出现的脉冲性干扰，可消除由于脉冲干扰所引起的采样值偏差</div><div class="t m0 x9 h8 y4a ff2 fs3 fc1 sc0 ls0 ws0">C<span class="_ _d"> </span><span class="ff1">、缺点：</span></div><div class="t m0 xa h8 y4b ff1 fs3 fc1 sc0 ls0 ws0">测量速度较慢，和算术平均滤波法一样</div><div class="t m0 xa h8 y4c ff1 fs3 fc1 sc0 ls0 ws0">比较浪费<span class="_ _e"> </span><span class="ff2">R<span class="_ _2"></span>AM</span></div><div class="t m1 x7 h6 y4d ff4 fs2 fc1 sc0 ls0 ws0">6</div><div class="t m1 x7 h6 y4e ff4 fs2 fc1 sc0 ls0 ws0">6</div><div class="t m1 x7 h6 y4f ff4 fs2 fc1 sc0 ls0 ws0">6</div><div class="t m1 x7 h6 y4d ff4 fs2 fc1 sc0 ls0 ws0">6</div><div class="t m0 x8 h7 y4d ff1 fs2 fc1 sc1 ls0 ws0">、限幅平均滤<span class="_ _6"></span>波法</div><div class="t m0 x9 h8 y50 ff2 fs3 fc1 sc0 ls0 ws0">A<span class="_ _7"> </span><span class="ff1">、方法：</span></div><div class="t m0 xa h8 y51 ff1 fs3 fc1 sc0 ls0 ws0">相当于<span class="_ _20"> </span><span class="ff2">“<span class="_ _21"> </span></span>限幅滤波法<span class="_ _26"> </span><span class="ff2">”<span class="_ _21"> </span>+<span class="_ _22"> </span>“<span class="_ _23"> </span></span>递推平均滤波法<span class="_ _24"> </span><span class="ff2">”</span></div><div class="t m0 xa h8 y52 ff1 fs3 fc1 sc0 ls0 ws0">每次采样到的新数据先进行限幅处理，</div><div class="t m0 xa h8 y53 ff1 fs3 fc1 sc0 ls0 ws0">再送入队列进行递推平均滤波处理</div><div class="t m0 x9 h8 y27 ff2 fs3 fc1 sc0 ls0 ws0">B<span class="_ _d"> </span><span class="ff1">、优点：</span></div><div class="t m0 xa h8 y28 ff1 fs3 fc1 sc0 ls0 ws0">融合了两种滤波法的优点</div><div class="t m0 xa h8 y29 ff1 fs3 fc1 sc0 ls0 ws0">对于偶然出现的脉冲性干扰，可消除由于脉冲干扰所引起的采样值偏差</div><div class="t m0 x9 h8 y54 ff2 fs3 fc1 sc0 ls0 ws0">C<span class="_ _d"> </span><span class="ff1">、缺点：</span></div><div class="t m0 xa h8 y55 ff1 fs3 fc1 sc0 ls0 ws0">比较浪费<span class="_ _e"> </span><span class="ff2">R<span class="_ _2"></span>AM</span></div><div class="t m1 x7 h6 y56 ff4 fs2 fc1 sc0 ls0 ws0">7</div><div class="t m1 x7 h6 y57 ff4 fs2 fc1 sc0 ls0 ws0">7</div><div class="t m1 x7 h6 y58 ff4 fs2 fc1 sc0 ls0 ws0">7</div><div class="t m1 x7 h6 y56 ff4 fs2 fc1 sc0 ls0 ws0">7</div><div class="t m0 x8 h7 y56 ff1 fs2 fc1 sc1 ls0 ws0">、一阶滞后滤<span class="_ _6"></span>波法</div><div class="t m0 x9 h8 y59 ff2 fs3 fc1 sc0 ls0 ws0">A<span class="_ _7"> </span><span class="ff1">、方法：</span></div><div class="t m0 xa h8 y30 ff1 fs3 fc1 sc0 ls0 ws0">取<span class="_ _12"> </span><span class="ff2">a=0~1</span></div><div class="t m0 xa h8 y31 ff1 fs3 fc1 sc0 ls0 ws0">本次滤波结果<span class="_ _0"> </span><span class="ff2">=<span class="_ _22"> </span></span>（<span class="_ _27"> </span><span class="ff2">1-<span class="_ _1"></span>a<span class="_ _28"> </span><span class="ff1">）<span class="_ _27"> </span></span>*<span class="_ _29"> </span><span class="ff1">本次采样值<span class="_ _26"> </span></span>+a*<span class="_ _2a"> </span><span class="ff1">上次滤波结果</span></span></div><a class="l" rel='nofollow' onclick='return false;'><div class="d m3"></div></a></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>