Arduino 控制理论（3）- 如何在 Arduino 中调节 PID 控制器

How to adjust a PID controller in Arduino

We continue with this mini-series of posts dedicated to control systems in Arduino. The most feared moment for many arrives, making the adjustment or tuning of the PID.

In previous posts, we have seen what a controller is, hysteresis control, and we have introduced the powerful PID controller. We emphasize that, without being the perfect controller, the PID is popular for being relatively simple and achieving good behavior in a large number of plants, without knowing their nature.

我们继续这一系列关于 Arduino 控制系统的文章。 在之前的文章中，我们已经了解了什么是控制器、滞后控制，并介绍了功能强大的 PID 控制器。 我们要强调的是，PID 虽然不是完美的控制器，但却因其相对简单、可在不了解植物性质的情况下对大量植物进行良好控制而广受欢迎。

We also said that the response of a PID depends on the parameters K, Ki, and Kd of the controller. And that these depend on the plant we are controlling, that is, there are no “magic values” that always make it work well.

Depending on the value we put on the parameters, we will obtain a good response, or a slow response, or oscillating, or even … remember, death, destruction, dismissal.

To make it more complicated, the effect of the factors in the response is no