{"id":709,"date":"2016-11-22T16:52:32","date_gmt":"2016-11-23T01:52:32","guid":{"rendered":"\/blog\/?p=709"},"modified":"2023-09-21T09:37:54","modified_gmt":"2023-09-21T00:37:54","slug":"pid-%ec%a0%9c%ec%96%b4-%ec%95%84%eb%91%90%ec%9d%b4%eb%85%b8-%ed%94%84%eb%a1%9c%ea%b7%b8%eb%9e%98%eb%b0%8d","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=709","title":{"rendered":"PID \uc81c\uc5b4 \uc544\ub450\uc774\ub178 \ud504\ub85c\uadf8\ub798\ubc0d"},"content":{"rendered":"\n
\ucd9c\ucc98 : http:\/\/hyongdoc.tistory.com\/51<\/a><\/span><\/font><\/div>

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PID \uc774\ud574\ub97c \uc704\ud574 \uac00\uc7a5 \uc911\uc694\ud55c \uac83\uc740, \ubc14\ub85c \uc624\ucc28\uc758 \uac1c\ub150\uc774\ub2e4. \uc624\ucc28\ub780? \ub9d0 \uadf8\ub300\ub85c \uc624\ucc28\ub2e4. \uc704\uc5d0\uc11c \uc608\ub97c \ub4e4\uc5c8\ub4ef\uc774 \ub9cc\uc57d \ub4dc\ub860\uc774 \uc9c0\uae08 \uc218\ud3c9\uc0c1\ud0dc\ub85c \uc788\ub294\ub370 \ub0b4\uac00 10\ub3c4 \uae30\uc6b8\uc774\ub780 \uba85\ub839\uc744 \uc92c\ub2e4\uace0 \ud558\uc790. \uadf8\ub807\ub2e4\uba74 \uc9c0\uae08 \uc624\ucc28\ub294 \ubc14\ub85c 10\ub3c4\uac00 \ub418\ub294 \uac83\uc774\ub2e4. \uc2dc\uac04\uc774 \ud758\ub7ec \ub4dc\ub860\uc774 11\ub3c4\uae4c\uc9c0 \uc654\ub2e4\uba74 \uc624\ucc28\ub294 -1\ub3c4\uac00 \ub418\ub294 \uc2dd\uc774\ub2e4.<\/span><\/font><\/div>

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\uc790, \ubcf8\uaca9\uc801\uc73c\ub85c \uc124\uba85\ud558\uae30\uc5d0 \uc55e\uc11c \uc624\ucc28\ub97c \uc5b4\ub5bb\uac8c \uadf9\ubcf5\ud558\ub294\uc9c0 \uc880\ub354 \uad6c\uccb4\uc801\uc73c\ub85c \uc0dd\uac01\ud574\ubcf4\uc790. \uc5b4\ub824\uc6b8\uac83 \uc5c6\ub2e4. \uc774\uc804 \ud3ec\uc2a4\ud305\uc5d0\uc11c \ub2e4 \uc598\uae30\ud55c \uac70\ub2e4.<\/span><\/font><\/div>

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\uba3c\uc800 \ub4dc\ub860\uc774 \uc218\ud3c9\uc0c1\ud0dc\ub85c \uc788\ub2e4\uace0 \uc0dd\uac01\ud574\ubcf4\uc790.<\/span><\/font><\/div>
\"\ucea1\ucc98.jpg\"\r\n<\/span>

\uac80\uc740\uc0c9\uc774 \ub4dc\ub860\uc774\uace0, \ub2e8\uc21c\ud558\uac8c 2\uac1c\uc758 \ubaa8\ud130\uac00 \uc788\ub2e4\uace0 \ud558\uc790. \uc218\ud3c9\uc0c1\ud0dc, \uc989 \uac01\ub3c4\uac00 0\ub3c4\uc778 \uc0c1\ud0dc\ub97c \uc720\uc9c0\ud558\uae30 \uc704\ud574\uc11c\ub294 \ub450 \ubaa8\ud130\uc758 \ucd94\ub825\uc774 \ube44\uc2b7\ud574\uc57c\ud55c\ub2e4.<\/span>
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\ucd94\ub825\uc774 \ube44\uc2b7\ud558\ub2e8 \uc774\uc57c\uae30\ub294 \ubb58\uae4c? \ubaa8\ud130\uc758 \ucd94\ub825\uc744 \uc870\uc808\ud558\ub294\uac8c \ubb58\uae4c? \ubc14\ub85c \ubaa8\ud130\uc5d0 \uc785\ub825\ub418\ub294 \uc804\uc555\uc758 \ud06c\uae30\uc774\ub2e4.<\/span><\/font><\/div>
\uace0\ub85c, \uc774 \ud3ec\uc2a4\ud305\uc5d0\uc11c \ubaa8\ud130 \ucd94\ub825 = \ubaa8\ud130\uc5d0 \uc785\ub825\ub418\ub294 \uc804\uc555\ud06c\uae30 \ub77c\uace0 \ubcf4\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>

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\ubaa8\ud130\uc758 \ucd94\ub825\uc774 \uac15\ud558\ub2e4 = \ubaa8\ud130\uc5d0 \uc785\ub825\ub418\ub294 \uc804\uc555\uc774 \ud06c\ub2e4.<\/span><\/div>
\ubaa8\ud130\uc758 \ucd94\ub825\uc774 \uc57d\ud558\ub2e4 = \ubaa8\ud130\uc5d0 \uc785\ub825\ub418\ub294 \uc804\uc555\uc774 \uc791\ub2e4.<\/span><\/div><\/pre><\/div>

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\uc774\ub807\uac8c \uc0dd\uac01\ud558\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>

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\uc704\uc640 \uac19\uc740 \uc0c1\ud0dc\ub77c\uba74, \ubaa8\ud130\uc5d0 \ub4e4\uc5b4\uac00\ub294 \uc804\uc555\uc758 \ud06c\uae30\uac00 \uac70\uc758 \ub3d9\uc77c\ud560 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uadf8\ub7f0\ub370 \ub9cc\uc57d \ub0b4\uac00 \uc774\uc0c1\ud0dc\uc5d0\uc11c, \ub4dc\ub860\ubcf4\uace0 10\ub3c4 \uae30\uc6b8\uc774\ub77c\uace0 \uba85\ub839\uc744 \uc92c\ub2e4\uace0 \ud574\ubcf4\uc790. \ub300\uccb4 \ubb34\uc2a8 \uc218\ub85c 10\ub3c4\ub97c \uae30\uc6b8\uc77c \uac83\uc778\uac00?<\/span><\/font><\/div>

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\"\ucea1\ucc982.jpg\"\r\n<\/span>
\ubaa8\uba58\ud2b8\uc758 \uac1c\ub150\uc774 \ub098\uc624\ub294\ub370, \uc5b4\ub824\uc6b8 \uac83 \uc5c6\ub2e4. \uadf8\ub0e5 1\ubc88 \ucd94\ub825\uc744 \ub0ae\ucd94\uace0 2\ubc88 \ucd94\ub825\uc744 \ub192\uc774\uba74 \ub41c\ub2e4. \uadf8\ub7ec\uba74 1\ubc88\uc740 \uac00\ub77c\uc549\uace0, 2\ubc88\uc740 \ub5a0\uc11c \uacb0\uacfc\uc801\uc73c\ub85c \ud68c\uc804\ud558\uac8c \ub418\ub294 \uac83\uc774\ub2e4. \uc989, 1\ubc88 \ubaa8\ud130\uc5d0 \ub4e4\uc5b4\uac00\ub294 \uc804\uc555\uc744 \ub0ae\ucd94\uace0, 2\ubc88 \ubaa8\ud130\uc5d0 \ub4e4\uc5b4\uac00\ub294 \uc804\uc555\uc744 \ub192\uc774\uba74 \ub41c\ub2e4. (\uc804\uc555\uc758 \ud06c\uae30\ub294 \uc544\ub450\uc774\ub178\uc5d0\uc11c pwm \uc2e0\ud638\ub85c \uac00\ub2a5\ud558\ub2e4. \uad00\ub828 \ub0b4\uc6a9\uc740 \ucd94\ud6c4\uc5d0 \ud3ec\uc2a4\ud305..)<\/span>
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\ubb3c\ub860, \ubaa8\ud130\uc5d0 \ub4e4\uc5b4\uac00\ub294 \uc804\uc555\uc744 \ub108\ubb34 \ub0ae\ucdb0\ubc84\ub9ac\uba74 \ubaa8\ud130\uac00 \ub3cc\uc9c0 \uc54a\uac8c\ub418\ubbc0\ub85c \uc5b4\ub290\uc815\ub3c4 \uc120\uc5d0\uc11c \ub0ae\ucdb0\uc57c\ud55c\ub2e4. \uc801\uc5b4\ub3c4 \ub4dc\ub860\uc774 \ub5a0\uc788\uc744 \ucd94\ub825\uc740 \uac00\uc838\uc57c\ud560\uac8c \uc544\ub2cc\uac00? \uc608\ub97c\ub4e4\uc5b4 \uac00\ub9cc\ud788 \uc788\uc744 \ub54c \ub4dc\ub860\uc5d0 \uc778\uac00\ub418\ub294 \uc804\uc555\uc774 10V\uc600\ub2e4\uba74, \uc704\uc640 \uac19\uc740 \uc0c1\ud0dc\uc5d0\uc11c\ub294 8V \uc815\ub3c4 \uc8fc\uba74 \ub418\ub294 \uc2dd\uc774\ub2e4.<\/span><\/font><\/div>

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\uc790, \uc774 \uc0c1\ud0dc\uc5d0\uc11c \ub2e4\uc2dc \ub0b4\uac00 0\ub3c4\ub85c \uac00\ub77c\ub294 \uba85\ub839\uc744 \uc92c\ub2e4\uace0 \ud558\uc790. \uc989, \ub2e4\uc2dc \uc218\ud3c9\uc0c1\ud0dc\ub97c \ub9de\ucd94\ub77c\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uc704\uc640 \ubc18\ub300\uacfc\uc815\uc73c\ub85c, 1\ubc88 \ucd9c\ub825\uc740 \ub192\uc774\uace0 2\ubc88 \ucd9c\ub825\uc740 \ub0ae\ucdb0\uc11c \ub2e4\uc2dc \ubc18\ub300\ub85c \ud68c\uc804\uc2dc\ud0ac \uac83\uc774\ub2e4. \uadf8\ub7f0\ub370 \uc5b4\ub5bb\uac8c \uc815\ud655\ud788 0\ub3c4\ub97c \ub9de\ucd9c\uae4c? \uadf8\ub0e5 \ud68c\uc804\ud558\ub2e4\uac00 \uc5bc\ucd94 \uc218\ud3c9\ub9de\uc73c\uba74 \ubc14\ub85c \ubaa8\ud130 \ucd9c\ub825\uc744 \uac16\uac8c \ub193\uc73c\uba74 \ub420\uae4c? \uc544\ub2c8\ub2e4. \ub4dc\ub860\ubab8\uccb4\uac00 \ud68c\uc804\ud558\uba74\uc11c \uc0dd\uae30\ub294 \ud68c\uc804\uad00\uc131\uc774 \uc788\uae30 \ub54c\ubb38\uc5d0 \uadf8\ub807\uac8c \ub2e8\uc21c\ud558\uac8c\ub294 \uc808\ub300 \uc218\ud3c9\uc744 \uc7a1\uc744 \uc218\uac00 \uc5c6\ub2e4.<\/span><\/font><\/div>

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\uadf8\ub807\ub2e4\uba74? \uc544\ub450\uc774\ub178\uc5d0\uc11c mpu6050\uc744 \ud1b5\ud574 \uc5bb\uc740 \uac01\ub3c4\ub97c \uac00\uc9c0\uace0 \uc5f0\uc0b0\uc744 \ud574\uc57c\ud55c\ub2e4. \uc989, \ud604\uc7ac \uae30\uc6b8\uc5b4\uc9c4 \uac01\ub3c4\uac12\uacfc, \ubaa9\ud45c\uac12\uc778 0\ub3c4\ub97c \uacc4\uc18d \ube44\uad50\ud558\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
10\ub3c4 \uae30\uc6b8\uc5b4\uc9c4 \uc0c1\ud0dc\uc5d0\uc11c\uc600\uc73c\ubbc0\ub85c, \ud604\uc7ac\uac12\uc740 10\ub3c4\uac00 \ub420 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uadf8\ub7ec\ub2e4 \ubaa8\ud130\uc5d0 \uc778\uac00\ub418\ub294 \uc804\uc555\uc744 \uc870\uc808\ud558\uba74, \uc989 \ubaa8\ud130 \ucd94\ub825\uc744 \uc870\uc808\ud558\uba74 \ud604\uc7ac\uac12\uc774 9\ub3c4, 8\ub3c4, 7\ub3c4, \ud558\uba74\uc11c \uc810\uc810 \uc791\uc544\uc9c4\ub2e4. \ucee4\uc9c0\ub2e4\uac00 3\ub3c4, 1\ub3c4, 0\ub3c4\uae4c\uc9c0 \uc62c \uac83\uc774\ub2e4. \uadf8\ub7f0\ub370 0\ub3c4\uc5d0 \uc654\uc73c\uba74 \ub354\uc774\uc0c1 \ud68c\uc804\ud558\uba74 \uc548\ub418\uace0 \uc720\uc9c0\ud574\uc57c\ud55c\ub2e4. \uc5b4\ub5bb\uac8c??<\/span><\/font><\/div>

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\ubc14\ub85c \uc624\ucc28\ub97c \uc774\uc6a9\ud558\ub294 \uac83\uc774\ub2e4. \uc608\uc2dc\uc5d0\uc11c \ubcf4\ub4ef, 10\ub3c4\uc5d0\uc11c 0\ub3c4\ub85c \uae30\uc6b8\uc5b4\uc9c8\uc218\ub85d \uc624\ucc28\uac00 \uc810\uc810 \uc791\uc544\uc9c4\ub2e4. \ucc98\uc74c\uc5d4 10\uc774\uc5c8\ub2e4\uac00 \ub098\uc911\uc5d4 0\uc774 \ub418\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\ub530\ub77c\uc11c \uc624\ucc28\uac12\uc744, 1\ubc88\uacfc 2\ubc88 \ubaa8\ud130\uc5d0 \uc778\uac00\ub418\ub294 \uc804\uc555\uc758 \ucc28\uc774\uc640 \uc5f0\uad00\uc2dc\ud0a4\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uc624\ucc28\uac00 10\uc77c\ub54c\ub294 \uadf8\ub9cc\ud07c \uc804\uc555\ucc28\uc774\uac00 \ucee4\uc11c \ud68c\uc804\ud558\ub824\uace0 \ud558\uace0, \uc624\ucc28\uac00 0\uc73c\ub85c \ub2e4\uac00\uac08\uc218\ub85d \uc804\uc555\ucc28\uc774\uac00 \uc791\uc544\uc838\uc11c \uacb0\uad6d \ub450 \ubaa8\ud130\uc5d0\ub294 \uac19\uc740 \uc804\uc555\uc774 \uc778\uac00\ub418\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>

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\uc124\uba85\uc774 \ubcf5\uc7a1\ud558\uad70......... \ube14\ub85d\ub2e4\uc774\uc5b4\uadf8\ub7a8\uc740 \uc544\ub798\uc640 \uac19\ub2e4.<\/span>
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\uc81c\uc5b4 \uacf5\ubd80\ub97c \uc880 \ud574\ubcf4\uba74 \ubcc4\ub85c \uc5b4\ub835\uc9c0 \uc54a\uc740 \uadf8\ub9bc\uc778\ub370..<\/span>
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Desired state\uc774 \uc6b0\ub9ac\uac00 \ucd94\uad6c\ud558\ub294 0\ub3c4\uc774\ub2e4. \uadf8\ub9ac\uace0 \uadf8 \uc544\ub798 measured state\uc774 \ubc14\ub85c \ud604\uc7ac\uac01\ub3c4\uac12!<\/span><\/font><\/div>
\ubcf4\uba74 \uccab\ubc88\uc9f8 \ub3d9\uadf8\ub77c\ubbf8\uc5d0\uc11c Desired State - measured state\uc774 \ub418\uac8c \ub418\uc5b4\uc788\ub2e4. \uc989 \uc774\uac8c \ubc14\ub85c \uc624\ucc28\uace0, \uc624\ucc28\uac00 e(t)\ub77c\uace0 \ud45c\ud604\ub418\uc5b4\uc788\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>

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\uadf8 \uc606\uc5d0 \ub124\ubaa8 3\uac1c\uac00 \ucc28\ub840\ub300\ub85c P, I, D \uc81c\uc5b4\ud558\ub294 \ube14\ub85d\uc744 \ub098\ud0c0\ub0b8\ub2e4. \ud2b9\ud788 Kp, Ki, Kd\ub97c \uac8c\uc778(Gain) \uac12\uc774\ub77c\uace0 \ud55c\ub2e4.<\/span><\/font><\/div>
\ubcc4\ub85c \uc5b4\ub824\uc6b4 \uac1c\ub150\uc740 \uc544\ub2c8\uace0, \uc27d\uac8c \uc598\uae30\ud574\uc11c P, I, D \uc81c\uc5b4\uc758 \uc911\uc694\ub3c4\ub97c \ub098\ud0c0\ub0b4\ub294 \uc9c0\ud45c\ub77c\uace0 \ubcf4\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>
\uc774\ub97c\ud14c\uba74 Kp\uac00 \ucee4\uc9c8\uc218\ub85d PID\uc81c\uc5b4\ub97c \ud558\ub294\ub370 \uc788\uc5b4\uc11c P \ubd80\ubd84\uc758 \uc601\ud5a5\uc774 \ub354 \ucee4\uc9c0\ub294 \uc148. \uc544\ubb34\ud2bc \ud558\ub098\uc529 \uc0b4\ud3b4\ubcf4\uc790.<\/span><\/font><\/div>

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\uba3c\uc800 P\uc81c\uc5b4. \ube44\ub840\uc81c\uc5b4\ubd80\ubd84\uc774\ub2e4.<\/span><\/font><\/div>
\uc544\uae4c \uc704\uc5d0\uc11c \uc598\uae30\ud588\ub4ef\uc774, \uc624\ucc28\uac00 \ud06c\uba74 \uadf8\uac83\uc5d0 \ube44\ub840\ud574\uc11c \uc804\uc555\uc758 \ucc28\uc774\uac00 \uacb0\uc815\ub41c\ub2e4. \uc624\ucc28\uac00 0\uc774 \ub418\uba74 \uc804\uc555\uc758 \ucc28\uc774\ub3c4 0\uc774 \ub41c\ub2e4.<\/span><\/font><\/div>
\uadf8\ub7f0\ub370, \uc798 \uc0dd\uac01\ud574\ubcf4\uc790.<\/span><\/font><\/div>

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\uae30\uc6b8\uc5b4\uc9c4 \ub4dc\ub860\uc774 0\ub3c4\ub85c \ub2e4\uac00\uc654\ub2e4\uace0 \uce58\uc790. \uc774\uc81c \uc624\ucc28\uac00 1\ub3c4\ubc16\uc5d0 \uc548\ub09c\ub2e4. \uadf8\ub9ac\uace0 \ube44\ub840\uc81c\uc5b4\uc774\uae30 \ub54c\ubb38\uc5d0 \ucc98\uc74c \uc804\uc555\uc758 \ucc28\uc774\ubcf4\ub2e4 10\ubd84\uc758 1\ubc30\uac00 \ub41c \uc804\uc555 \ucc28\uc774\uac00 \ubaa8\ud130\uc5d0 \uc778\uac00\ub418\uace0 \uc788\uc744 \uac83\uc774\ub2e4. \uadf8\ub7f0\ub370 \ub9cc\uc57d \uadf8 \uc804\uc555\ucc28\uc774\uac00 \ub4dc\ub860\uc744 \ud68c\uc804\uc2dc\ud0a4\uae30\uc5d0 \ucda9\ubd84\ud55c \ud68c\uc804\ub825\uc744 \ubc1c\uc0dd\uc2dc\ud0ac \uc218 \uc5c6\ub2e4\uba74?<\/span><\/font><\/div>

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\ub2e4\uc2dc\ub9d0\ud574, 1\ubc88\uacfc 2\ubc88 \ubaa8\ud130\uc5d0 \ubd84\uba85\ud55c \ucd94\ub825\ucc28\uc774\uac00 \uc788\ub2e4. \uadf8\ub7f0\ub370 \uadf8 \ucc28\uc774\uac00 \ub108\ubb34 \uc791\uc544\uc11c \ub4dc\ub860\uc744 \ud68c\uc804\uc2dc\ud0ac\uc218\uac00 \uc5c6\ub294\uac83\uc774\ub2e4. \uadf8\ub807\uac8c \ub418\uba74 \uc544\uc9c1 \uc624\ucc28\uac00 1\ub3c4\ub77c\uace0 \ub0a8\uc544\uc788\ub294\ub370, P\uc81c\uc5b4\ub9cc\uc73c\ub85c\ub294 \uc601\uc6d0\ud788~~~~~~ \uc624\ucc28\ub97c 0\uc73c\ub85c \ub9cc\ub4e4 \uc218\uac00 \uc5c6\ub2e4\ub294 \uacb0\ub860\uc774 \ub098\uc628\ub2e4. \uc65c? \ud798\uc774 \ubd80\uc871\ud558\ub2c8\uae4c \ub9d0\uc774\ub2e4.<\/span><\/font><\/div>

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\ub2e4\uc74c\uc73c\ub85c\ub294 I \uc81c\uc5b4. \uc801\ubd84\uc81c\uc5b4 \ubd80\ubd84\uc774\ub2e4.<\/span><\/font><\/div>
\uc704\uc5d0\uc11c P\uc81c\uc5b4\ub9cc\uc73c\ub85c\ub294 \uc624\ucc28\ub97c 0\uc73c\ub85c \ub9cc\ub4e4 \uc218 \uc5c6\uc744 \uc218\ub3c4 \uc788\ub2e4\uace0 \uc774\uc57c\uae30\ud588\ub2e4. \uadf8\ub798\uc11c I\uc81c\uc5b4\ub97c \uc0ac\uc6a9\ud55c\ub2e4. P, I, D \uc81c\uc5b4\ub294 \uac01\uac01 \ub3c5\ub9bd\uc801\uc73c\ub85c \uc791\uc6a9\ud55c\ub2e4!<\/span><\/font><\/div>
\uc624\ucc28\uac00 10\ub3c4\uc5d0\uc11c 1\ub3c4\ub85c \uc904\uc5b4\ub4e4\uba74, P\uc81c\uc5b4\ub294 \ub3c5\ub9bd\uc801\uc73c\ub85c \ud589\ub3d9\ud558\uc5ec, \uc704\uc640 \ub9c8\ucc2c\uac00\uc9c0\ub85c \ucc98\uc74c\uc758 10\ubd84\uc758 1\ubc30\uc778 \uc804\uc555\uc758 \ucc28\uc774\ub97c \uc778\uac00\ud558\ub824\uace0 \ud55c\ub2e4.<\/span><\/font><\/div>
\uadf8\ub9ac\uace0 I\uac8c\uc778\uc740, 10\ub3c4\uc5d0\uc11c\ubd80\ud130 1\ub3c4\uae4c\uc9c0 \uc904\uc5b4\ub4e4\uba74\uc11c \uc0dd\uae34 \uc624\ucc28\ub97c \uacc4\uc18d \ub204\uc801\ud55c\ub2e4. \uc5b4\ub5bb\uac8c? \ud604\uc7ac \uc624\ucc28\uc640 \uc2dc\uac04\uc744 \uacf1\ud574\uc90c\uc73c\ub85c\uc368. \uace0\ub4f1\ud559\uad50 \uc218\ud559\uc5d0\uc11c \uad6c\ubd84\uad6c\uc801\ubc95\uc744 \uc0dd\uac01\ud558\uba74 \uc815\ud655\ud558\ub2e4. \uacc4\uc18d \uc624\ucc28 \uac12\uc744 \uacfc\uac70\ubd80\ud130 \ub204\uc801\ud574\uc624\ub294 \uac83\uc774 I\uc81c\uc5b4\uc778 \uac83\uc774\ub2e4.<\/span><\/font><\/div>

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P\uc81c\uc5b4\uc640 I\uc81c\uc5b4\ub97c \uac19\uc774 \ud558\uac8c \ub418\uba74, \ub9d0\ud588\ub4ef\uc774 \uc11c\ub85c \ub3c5\ub9bd\uc801\uc73c\ub85c \uc791\uc6a9\ud55c\ub2e4. \uadf8\ub9ac\uace0 \uac01\uac01 \ub3c5\ub9bd\uc801\uc73c\ub85c \uad6c\ud55c \uc804\uc555\uc758 \ucc28\uc774\ub97c \ub354\ud55c \uac12\uc744, \ubaa8\ud130\uc5d0 \uc778\uac00\ud558\uac8c \ub41c\ub2e4. \ub530\ub77c\uc11c PI \uc81c\uc5b4\ub97c \ud560 \ub54c\ub294 \ub450 \uc81c\uc5b4\ub85c \uad6c\ud55c \uc804\uc555 \ucc28\uc774\ub97c \ub354\ud55c \uac12\uc744 \ubaa8\ud130\uc5d0 \uc778\uac00\ud558\uac8c \ub418\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uc624\ucc28\uac00 1\ub3c4\ub85c \uc904\uc5b4\ub4e4\uc5c8\uc744 \ub54c, P\uc81c\uc5b4\ub294 \ud070 \ud798\uc744 \ubc1c\ud718\ud558\uc9c0 \ubabb\ud558\uc9c0\ub9cc I\uc81c\uc5b4\ub294 \uacc4\uc18d \ub204\uc801\ud574\uc654\uae30 \ub54c\ubb38\uc5d0, \uc624\ucc28\uac00 \uc788\ub294 \ud55c \uacc4\uc18d\ud574\uc11c \uc804\uc555 \ucc28\uc774\ub97c \ub354 \ub298\ub9ac\uac8c \ub41c\ub2e4. \ud604\uc7ac \uc624\ucc28\uc640 \uc2dc\uac04\uc744 \uacf1\ud55c \uac83\uc774 I \uac8c\uc778\uc73c\ub85c \uad6c\ud55c \uc81c\uc5b4\uac12\uc774\uae30 \ub54c\ubb38\uc774\ub2e4! \uace0\ub85c \uc624\ucc28\uac00 0\uc774 \ub420\ub54c\uae4c\uc9c0 \uacc4\uc18d \uc804\uc555\uc758 \ucc28\uc774\ub97c \ub9cc\ub4e4\uc5b4\ub0b4\ub294 \uac83\uc774 I \uac8c\uc778\uc774\ub2e4.<\/span><\/font><\/div>

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\ub2e4\uc74c\uc740 D \uc81c\uc5b4. \ubbf8\ubd84 \uc81c\uc5b4\uc774\ub2e4.<\/span><\/font><\/div>
\uc774\uac83\uc740 \ud604\uc7ac\uc758 \uc624\ucc28\uac12\uacfc, \uc774\uc804 \uc624\ucc28\uac12\uc758 \ucc28\uc774\ub97c \uc2dc\uac04\uc73c\ub85c \ub098\ub208 \uac12\uc774\ub2e4. \uc989, \uacfc\uac70\uc758 \uc624\ucc28 \uac12\uc744 \uc804\uc555 \ucc28\uc774\ub97c \uacb0\uc815\ud558\ub294\ub370 \ud560\ub2f9\uc2dc\ucf1c \ubcf4\ub2e4 \ubd80\ub4dc\ub7fd\uac8c \uc6c0\uc9c1\uc774\ub3c4\ub85d \ud558\ub294 \uac83\uc774\ub2e4. \uc815\ud655\ud55c \uac1c\ub150\uc740 \uc798 \ubaa8\ub974\uc9c0\ub9cc, D \uc81c\uc5b4\uac00 \uc0dd\uae30\uac8c \ub418\uba74 \ubc18\uc751\uc131\uc774 \ub354 \ubd80\ub4dc\ub7fd\uac8c \ub098\ud0c0\ub098\uac8c \ub41c\ub2e4.<\/span><\/font><\/div>

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\uc544\ub798 \uc6c0\uc9e4\uc744 \ubcf4\uba74 \uc774\ud574\uac00 \ud3b8\ud560 \uac83\uc774\ub2e4.<\/span><\/font><\/div>

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\"PID_Compensation_Animated.gif\"\r\n<\/span>

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\uc8fc\ubaa9\ud574\uc57c \ud560\uac83\uc740, \ube68\uac04\uc120\uc774 \ubaa9\ud45c\uac12\uc774\ub780 \uac83\uc774\ub2e4. \uc989 \uc6b0\ub9ac\ub85c \uce58\uba74 0\ub3c4\uc774\ub2e4.<\/span><\/font><\/div>
\uadf8\ub9ac\uace0 \ud30c\ub780\uc120\uc774 (0, 0) \uc9c0\uc810\ubd80\ud130 \ucd9c\ubc1c\ud558\ub294\ub370 x\ucd95\uc740 \uc2dc\uac04\uc774\uace0 y\ucd95\uc740 \ud604\uc7ac \uac01\ub3c4\uac12\uc774\ub77c\uace0 \ubcf4\uba74 \ub41c\ub2e4. \ube68\uac04\uc120\uc774 \ubaa9\ud45c\uac12\uc778 0\ub3c4\uc774\uace0, y\uac12\uc774 0\uc778\ub370 \uc6b0\ub9ac\uac00 \uc0dd\uac01\ud558\ub294 10\ub3c4\ub77c\uace0 \ubcf4\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>

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1. P\uac8c\uc778\uc774 \uc810\uc810 \ub298\uc5b4\ub09c\ub2e4. \uc2dc\uac04\uc774 \uc9c0\ub0a0\uc218\ub85d \ubaa9\ud45c\uac12\uc774 \ub354 \uadfc\uc811\ud574\uac00\ub294 \uac83\uc744 \uc54c \uc218 \uc788\uc9c0\ub9cc, \ubaa9\ud45c\uac12\uc778 \ube68\uac04\uc120\uc5d0 \uc774\ub974\uc9c4 \ubabb\ud558\ub294 \uac83\uc744 \ubcfc \uc218 \uc788\ub2e4. \uc544\uae4c \uc598\uae30\ud588\ub4ef\uc774, \uc624\ucc28\uac00 \ub108\ubb34 \uc791\uc544\uc11c \ucda9\ubd84\ud55c \uc804\uc555\ucc28\uc774\ub97c \uc778\uac00\ud560 \uc218 \uc5c6\ub294 \uac83\uc774\ub2e4.\r\n\r\n2. \uc774 \ub54c I\uac8c\uc778\uc744 \uc810\uc810 \ub298\ub9b0\ub2e4. \ube68\uac04\uc120\uc5d0 \uc774\ub974\uc9c0 \ubabb\ud588\ub358 \ud604\uc7ac \uac01\ub3c4\uac12\uc774 \uc27d\uac8c \uc774\ub974\ub294 \uac83\uc744 \uc54c \uc218 \uc788\ub2e4. \uadf8\ub7f0\ub370 \ub3d9\uc2dc\uc5d0 \ubc18\uc751\uc774 \uc870\uae08 \uac70\uce60\uc5b4 \uc9c4\ub2e4. \uc2dc\uac04\uc774 \uc9c0\ub0a8\uc5d0 \ub530\ub77c \ub4dc\ub860\uc774 \uc694\ub3d9\uce58\ub4ef\uc774 \ubaa9\ud45c\uac12\uc5d0 \uc774\ub974\ub978\ub2e4. \uc694\ub3d9\uce58\ub294 \uc9c4\ud3ed\uc744 \ubcf4\uace0 Overshoot\uc774\ub77c\uace0 \ud55c\ub2e4. \uc624\ubc84\uc29b\uc774 \ud06c\ub2e4\ub294 \uac83\uc740 \ud06c\uac8c \uc694\ub3d9\uce5c\ub2e4\ub294 \uac83. \ubcc4\ub85c \uc88b\uc9c0 \uc54a\uc740 \uc81c\uc5b4\uac00 \ub420 \uac83\uc774\ub2e4.\r\n\r\n3. \uc774 \ub54c D\uac8c\uc778\uc744 \uc810\uc810 \ub298\ub9ac\uba74, \uc694\ub3d9\uce58\ub358 \ub4dc\ub860\uc774 \ubcf4\ub2e4 \ubd80\ub4dc\ub7fd\uac8c \ubaa9\ud45c\uac12\uc5d0 \ub3c4\ub2ec\ud558\ub294 \uac83\uc744 \ubcfc \uc218 \uc788\ub2e4.<\/span><\/pre><\/div>

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\uc0ac\uc2e4 \uc27d\uac8c \uc124\uba85\ud55c\ub2e4\uace0 \ud588\uc9c0\ub9cc... \uc774\ud574\uac00 \uc26c\uc6b8\uc9c0\ub294 \ubaa8\ub974\uaca0\ub2e4.<\/span><\/font><\/div>

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\uc774\uac8c PID \uc81c\uc5b4\uc758 \uc804\ubd80\uc774\ub2e4.<\/span><\/font><\/div>
PID\uc81c\uc5b4\ub294 \uc81c\uc5b4 \uc774\ub860 \uc911\uc5d0\uc11c\ub3c4 \uc544\uc8fc \uc9c1\uad00\uc801\uc774\uace0 \uc26c\uc6b4 \uc81c\uc5b4\uae30\ubc95\uc774\ub77c\uace0 \ud55c\ub2e4. \uad49\uc7a5\ud788 \uc9c1\uad00\uc774\uace0, \ub4dc\ub860\uc774\ub77c\ub294 \uac83\uc758 \uc5ed\ud559\uc801 \ubaa8\ub378\ub9c1\uc744 \uc138\uc6b0\uc9c0 \uc54a\uc544\ub3c4 \uadf8\ub0e5 \uc9c1\uad00\uc801\uc73c\ub85c PID \uac8c\uc778\uac12\ub4e4\uc744 \ucc3e\uc744 \uc218 \uc788\ub2e4. \uc5b4\ub5bb\uac8c? \uc2e4\ud5d8\ud558\uba74\uc11c. \uace0\ub85c!!! \ucac4 \ud544\uc694 \uc5c6\ub2e4. \uc774\uac74 \uad49\uc7a5\ud788 \uc26c\uc6b4 \uae30\ubc95\uc774\ub2e4.<\/span><\/font><\/div>

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1. \uc544\ub450\uc774\ub178 \ucf54\ub529\uc744 \uc704\ud574 \ubc18\ub4dc\uc2dc \uc54c\uc544\uc57c\ud560 \ud329\ud2b8\ub4e4<\/span><\/font><\/div>

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\uc544\ub450\uc774\ub178 IDE\ub97c \uba3c\uc800 \ubc1b\uc544\uc57c\ud558\ub294\ub370, \uadf8\uac74 \uc9c0\ub09c \ud3ec\uc2a4\ud305\uc5d0 \uc788\uc73c\ubbc0\ub85c!<\/span><\/font><\/div>
\uc624\ub298\uc740 \ubc14\ub85c \ucf54\ub529\uc744 \ubcf4\ub3c4\ub85d \ud558\uaca0\ub2e4.<\/span><\/font><\/div>

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\uc544\ub450\uc774\ub178 IDE\ub97c \uc2e4\ud589\uc2dc\ud0a4\uba74 \ub2e4\uc74c\uacfc \uac19\uc740 \ubb38\uad6c\ub4e4\uc774 \ub72c\ub2e4.<\/span><\/font><\/div>

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void<\/span> <\/span>setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}\r\n\r\n<\/span>void<\/span> <\/span>loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n\r\n}<\/span><\/pre><\/div>

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void\uac00 \ubb54\uc9c0, setup\uc740 \ubb54\uc9c0, loop\ub294 \ubb54\uc9c0 ()\ub294 \ubb50\uace0 {}\ub294 \ubb54\uc9c0. \uc544\ub9c8 \ucc98\uc74c\ud558\ub294 \uc0ac\ub78c\uc774\ub77c\uba74 \uc544\ubb34\uac83\ub3c4 \ubaa8\ub97c \uac83\uc774\ub2e4. \uadf8\ub7f0\ub370 \ubaa8\ub4e0 \uac78 \ub2e4 \uc54c\uc544\uc57c \ucf54\ub529\uc744 \ud560 \uc218 \uc788\ub294\uac8c \uc544\ub2c8\ub2e4. \ucf54\ub529\uc774 \ubb54\uac00? \uc54c\uace0\ub9ac\uc998\uc544\ub2cc\uac00? \uacb0\uad6d \uc544\ub450\uc774\ub178 \ub4dc\ub860\uc744 \ub9cc\ub4dc\ub294\ub370 \uc788\uc5b4\uc11c \uac00\uc7a5 \uc911\uc694\ud55c\uac74 \uc54c\uace0\ub9ac\uc998\uc774\ub2e4!<\/span><\/font><\/div>
C\uc5b8\uc5b4(\ucef4\ud4e8\ud130 \ud504\ub85c\uadf8\ub798\ubc0d \uc5b8\uc5b4)\ub77c\ub294 \uac74 \uacb0\uad6d \uc6b0\ub9ac\uac00 \uc0dd\uac01\ud55c \uc54c\uace0\ub9ac\uc998\uc744 \uc5b8\uc5b4\uc801\uc73c\ub85c \ud480\uc5b4\uc8fc\ub294 \ub370 \ud544\uc694\ud560 \ubfd0, \uc54c\uace0\ub9ac\uc998 \uc790\uccb4\uac00 \ub420 \uc218\ub294 \uc5c6\uae30 \ub54c\ubb38\uc774\ub2e4.<\/span><\/font><\/div>

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\uace0\ub85c \uc54c\uace0\ub9ac\uc998\uc744 \uc9dc\uace0, \uadf8 \uc54c\uace0\ub9ac\uc998\uc744 \ucf54\ub529\uc73c\ub85c \uc801\uc6a9\ud560 \uc904\ub9cc \uc54c\uba74 \ub41c\ub2e4. \ubb3c\ub860 \uc5c4\ubc00\ud788 \ub9d0\ud558\uba74 \ud504\ub85c\uadf8\ub798\ubc0d \uc5b8\uc5b4\uc5d0 \ub300\ud55c \uc9c0\uc2dd\uc774 \uc788\uc5b4\uc57c \uc751\ub2f5\uc18d\ub3c4\uc640 \ubc18\uc751\uc131 \ub4f1\uacfc \uac19\uc740 \uc815\ubc00\ud55c \uacf3\uc5d0\uc11c \ub354 \uc774\uc810\uc744 \uac00\uc9c8 \uc218 \uc788\uaca0\uc9c0\ub9cc.. \ud754\ud788 \ub9cc\ub4dc\ub294 \uc544\ub450\uc774\ub178 \ub4dc\ub860 \uc815\ub3c4\ub294 \ub531\ud788 \ubab0\ub77c\ub3c4 \uac00\ub2a5\ud558\ub2e4. \uace0\ub85c \uc2dc\uc791\ud574\ubcf4\uc790.<\/span><\/font><\/div>

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\uc544\ub450\uc774\ub178\ub294 \ud06c\uac8c 2\ubd80\ubd84\uc73c\ub85c \ub098\ub258\uc5b4\uc838 \uc788\ub2e4.<\/span><\/font><\/div>
void setup, void loop \uac00 \ubc14\ub85c \uadf8\uac83\uc774\ub2e4.<\/span><\/font><\/div>

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\uba3c\uc800 \uc14b\uc5c5 \ubd80\ubd84\uc740 \ubb58\uae4c?<\/span><\/font><\/div>

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void<\/span> <\/span>setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}<\/span><\/pre><\/div>

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\uce5c\uc808\ud558\uac8c \uc544\ub450\uc774\ub178\uc5d0\uc11c \uc124\uba85\ud574\uc8fc\uace0 \uc788\ub2e4. PUT YOUR SETUP CODE HERE, TO RUN ONCE:<\/span><\/font><\/div>
\uc989, \ub531 \ud55c\ubc88\ub9cc \uc2e4\ud589\ub420 \ucf54\ub4dc\ub97c setup \ubd80\ubd84\uc5d0 \ucc44\uc6cc\ub123\uc73c\ub77c\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>

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void<\/span> <\/span>loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n\r\n}<\/span><\/pre><\/div>

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\ub2e4\uc74c\uc740 \ub8e8\ud504 \ubd80\ubd84. PUT YOUR MAIN CODE HERE, TO RUN REPEATEDLY:<\/span><\/font><\/div>
\uc989, \ub8e8\ud504 \uc548\uc5d0 \ub4e4\uc5b4\uac00 \uc788\ub294 \ucf54\ub4dc\ub294 \ub9ac\ud53c\ud2b8!! \ubc18\ubcf5\ub41c\ub2e4. \uc544\ub450\uc774\ub178\uc5d0 \uc5c5\ub85c\ub4dc\ud558\ub294 \uc21c\uac04\ubd80\ud130 \uc601\uc6d0\ud788 \ubc18\ubcf5\ub41c\ub2e4. loop \uc548\uc5d0 \uc788\ub294 \uac74 \uadf8\ub0e5 \uc601\uc6d0\ud788~~~ \uc704\uc5d0\uc11c\ubd80\ud130 \uc544\ub798\ub85c \ucf54\ub4dc\uac00 \uc2e4\ud589\ub418\uac8c \ub418\ub294 \uac83\uc774\ub2e4. setup\uc740 \uc704\uc5d0\uc11c\ubd80\ud130 \uc544\ub798\ub85c \ud55c\ucc28\ub840 \uc2e4\ud589\ub418\uace0 \ub9c8\ub294 \ubd80\ubd84\uc774\uace0, loop\ub294 \uc601\uc6d0\ud788 \uacc4\uc18d \ubc18\ubcf5\ub418\uba74\uc11c \uc2e4\ud589\ub418\uac8c \ub41c\ub2e4.<\/span><\/font><\/div>

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\ub530\ub77c\uc11c PID\ub97c \ucf54\ub529\uc73c\ub85c \ud55c\ub2e4\uba74, \uc5b4\ub5a4 \ubd80\ubd84\uc744 setup\uc5d0 \ub123\uace0 \uc5b4\ub5a4 \ubd80\ubd84\uc744 loop\uc5d0 \ub123\uc744\uc9c0\ub97c \uc0dd\uac01\ud574\uc57c\ud55c\ub2e4.<\/span><\/font><\/div>

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PID\ub294 \uc774\uc804 \ud3ec\uc2a4\ud305\uc5d0\uc11c \ub9d0\ud588\uc9c0\ub9cc, P, I, D \uc81c\uc5b4\ub97c \uac01\uac01 \ud55c \ud6c4 \uadf8 \uc81c\uc5b4\uac12\uc744 \ubaa8\ub450 \ub354\ud558\uc5ec \uc801\uc6a9\ud558\uac8c \ub41c\ub2e4.<\/span><\/font><\/div>
\uc989, P\uc81c\uc5b4 + I\uc81c\uc5b4 + D\uc81c\uc5b4 = PID \uc81c\uc5b4\uac12 \uc774 \ub418\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>

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\uadf8\ub9ac\uace0 PID\ub294 \uc624\ucc28\uc640 \uad00\ub828\ub41c \uac1c\ub150\uc774\ub77c\uace0 \ud588\ub2e4. loop\uac00 \uc5b4\ub290\uc815\ub3c4 \uc8fc\uae30\ub97c \uac16\uace0 \uacc4\uc18d \ubc18\ubcf5\ub418\uba74\uc11c \uc2e4\ud589\ub420\ud150\ub370, \ub9e4\ubc88 \uc2e4\ud589\ub420\ub54c\ub9c8\ub2e4 \uc624\ucc28\uac00 \ub2ec\ub77c\uc9c8 \uac83\uc774\ub2e4. \ub530\ub77c\uc11c loop\uc548\uc5d0\ub294 \ub9e4\ubc88 \ub2ec\ub77c\uc9c0\ub294 \uc624\ucc28\ub97c \uac00\uc9c0\uace0 P, I, D \uc81c\uc5b4\uac12\uc744 \uc0c8\ub86d\uac8c \uac31\uc2e0\ud574\uc8fc\uc5b4\uc57c \ud560 \ud544\uc694\uac00 \uc788\ub2e4.<\/span><\/font><\/div>

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\ud504\ub85c\uadf8\ub798\ubc0d\uc5b8\uc5b4\uc5d0\uc11c\ub294 \ubcc0\uc218\ub77c\ub294 \uac8c \uc788\ub2e4. \ub9d0\uadf8\ub300\ub85c \ubcc0\ud558\ub294 \uc218\ub2e4. P, I, D \uac8c\uc778\uac12\ub4e4\uc740 \ubcc0\ud558\uc9c0 \uc54a\ub294 \uc0c1\uc218\ub85c \uc9c0\uc815\ub418\uc5b4\uc57c \ud558\uace0 \uc624\ucc28\uac00 \ubcc0\uc218\ub85c \uc9c0\uc815\ub418\uc5b4\uc57c \ud560 \uac83\uc774\ub2e4. (\uaf2d \uadf8\ub7f0\uac74 \uc544\ub2c8\uc9c0\ub9cc \uc77c\ubc18\uc801\uc73c\ub85c!)<\/span><\/font><\/div>
\uadf8\ub7f0\ub370 \uc544\ub450\uc774\ub178\ub294 P, I, D \ub77c\ub294 \uac1c\ub150\uc774 \uc5c6\ub2e4. \uc544\ubb34\uac83\ub3c4 \ubaa8\ub978\ub2e4. \uace0\ub85c \uadf8\uac8c \ubb54\uc9c0, \ubbf8\ub9ac \uc120\uc5b8\ud574\uc904 \ud544\uc694\uac00 \uc788\ub2e4.<\/span><\/font><\/div>

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\uc608\ub97c \ub4e4\uc5b4, Kp, Ki, Kd\ub97c \uac01\uac01 PID\uc758 \uac8c\uc778\uac12\uc774\ub77c\uace0 \uc0dd\uac01\ud574\ubcf4\uc790. \uadf8\ub9ac\uace0 \ub09c \uadf8 \uac12\uc5d0 \uac01\uac01 1.2, 2.5, 3.2\uc744 \uc9c0\uc815\ud574\uc8fc\uace0 \uc2f6\ub2e4.<\/span><\/font><\/div>

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\uadf8\ub807\ub2e4\uba74 \uc544\ub798\uc640 \uac19\uc774 \uc120\uc5b8\ud574\uc8fc\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>

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double<\/span> Kp = <\/span>1.2<\/span>;\r\n<\/span>double<\/span> Ki = <\/span>2.5<\/span>;\r\n<\/span>double<\/span> Kd = <\/span>3.2<\/span>;\r\n\r\n<\/span>void<\/span> <\/span>setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}\r\n\r\n<\/span>void<\/span> <\/span>loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n\r\n}<\/span><\/pre><\/div>

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\uc790, \uc6b0\uce21\uc740 \uc774\ud574\ud558\uae30\uac00 \uc27d\ub2e4. Kp = 1.2 \uc774\ub7f0 \ubd80\ubd84\uc740 \uc9c1\uad00\uc801\uc73c\ub85c \uc640\ub2ff\uc744 \uac83\uc774\ub2e4. \uadf8\ub7f0\ub370 \uc88c\uce21\uc5d0 double\uc740 \ubb54\uac00?<\/span><\/font><\/div>
\uc544\ub450\uc774\ub178\ub294 \uc6b0\ub9ac\uac00 \uc120\uc5b8\ud558\ub824\ub294 \uc22b\uc790\uac00 \uc815\uc218\uc778\uc9c0, \uc2e4\uc218\uc778\uc9c0\ub3c4 \ubaa8\ub978\ub2e4. \uadf8\uac78 \uc6b0\ub9ac\uac00 \ub9d0\ud574\uc8fc\uc9c0 \uc54a\uc73c\uba74 \uc598\ub294 \ud574\uc11d\uc744 \ubabb\ud55c\ub2e4. 1.2\ub294 \uc815\uc218\uac00 \uc544\ub2c8\ub77c \uc2e4\uc218 \uc601\uc5ed\uc5d0 \uc788\uae30 \ub54c\ubb38\uc5d0 \uc2e4\uc218 \ubcc0\uc218\ub97c \uc598\uae30\ud558\ub294 double\ub85c \uc120\uc5b8\ud574\uc8fc\uc5b4\uc57c \ud55c\ub2e4. \uc815\uc218 \ubcc0\uc218\ub294 int \ub85c \ubc14\uafd4\uc8fc\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>

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\uc790 \uc774\uc81c \uac8c\uc778\uac12\ub4e4\uc744 \uc120\uc5b8\ud588\uc73c\ub2c8, \uc624\ucc28\ub3c4 \uc120\uc5b8\ud574\uc8fc\ub3c4\ub85d \ud558\uc790. \uc624\ucc28\ub294 error \ub77c\uace0 \ud558\uaca0\ub2e4. \uc624\ucc28\ub294 \uc815\uc218\ubcf4\ub2e4\ub294 \uc2e4\uc218\uc778\uac8c \ub354 \uc12c\uc138\ud558\uace0 \uc88b\uc744 \uac83 \uac19\uc73c\ub2c8 \uc2e4\uc218\ub85c \uc120\uc5b8!<\/span><\/font><\/div>

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double<\/span> Kp = <\/span>1.2<\/span>;\r\n<\/span>double<\/span> Ki = <\/span>2.5<\/span>;\r\n<\/span>double<\/span> Kd = <\/span>3.2<\/span>;\r\n<\/span>double<\/span> error;\r\n\r\n<\/span>void<\/span> <\/span>setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}\r\n\r\n<\/span>void<\/span> <\/span>loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n\r\n}<\/span><\/pre><\/div>

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\uc774 \uacbd\uc6b0\ub294 error\uc5d0 \ud2b9\uc815 \uac12\uc744 \ub123\uc9c0 \uc54a\uc558\ub2e4. \uc65c? \uc774\uac74 \ubcc0\uc218\ub2c8\uae4c \ub9d0\uc774\ub2e4. Kp, i, d\ub294 \uc0c1\uc218\ub85c \uace0\uc815\uc2dc\ud0ac \uac83\uc774\uae30 \ub54c\ubb38\uc5d0 \uc800\ub807\uac8c \ubbf8\ub9ac \uc120\uc5b8\ud574\ub193\uc740 \uac70\uace0, error\ub294 \ub8e8\ud504\uac00 \uacc4\uc18d \ubc18\ubcf5\uc2e4\ud589\ub428\uc5d0 \ub530\ub77c \ubcc0\ud558\ub294 \uc218\uc774\uae30 \ub54c\ubb38\uc5d0 \uad73\uc774 \ub123\uc9c0 \uc54a\uc558\ub2e4. \uc800\ub807\uac8c \uc544\ubb34\uac83\ub3c4 \ub123\uc9c0 \uc54a\uc73c\uba74 \ucd08\uae30\uac12\uc774 0\uc73c\ub85c \uc790\ub3d9\ubc30\uc815\ub418\ub294 \uac78\ub85c \uc54c\uace0 \uc788\ub2e4.<\/span><\/font><\/div>

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\uc774\uc81c, \uc624\ucc28\uc5d0 \ud544\uc694\ud55c \ud604\uc7ac\uac12\uacfc \ubaa9\ud45c\uac12\uc744 \uc120\uc5b8\ud574\ubcf4\ub3c4\ub85d \ud558\uc790.<\/span><\/font><\/div>
\ubaa9\ud45c\uac12\uc740 \uc774\uc804 \ud3ec\uc2a4\ud305\uc5d0\uc11c \uc608\ub97c \ub4e0 \uac83\ucc98\ub7fc, 10\ub3c4\ub77c\uace0 \ud558\uace0 desired_angle\ub85c \uc120\uc5b8\ud558\uaca0\ub2e4. \uadf8\ub9ac\uace0 \ud604\uc7ac\uac12\uc740 mpu6050\uc744 \ud1b5\ud574 \ucd94\ucd9c\ud55c \uac01\ub3c4\uac12\uc73c\ub85c, \uc2e4\uc81c \ucf54\ub4dc\ub294 \uc788\ub2e4\uace0 \uac00\uc815\ud558\uace0 \uadf8 \uac12\uc740 current_angle \uc774\ub77c\uace0 \ud558\uaca0\ub2e4.<\/span><\/font><\/div>

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double<\/span> Kp = 1.2<\/span>;\r\ndouble<\/span> Ki = 2.5<\/span>;\r\ndouble<\/span> Kd = 3.2<\/span>;\r\ndouble<\/span> error;\r\n\r\ndouble<\/span> desired_angle = 10<\/span>;\r\ndouble<\/span> current_angle;\r\n\r\nvoid<\/span> setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}\r\n\r\nvoid<\/span> loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n\r\n}<\/pre><\/div>

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\uc790, \uc774\uac8c error\uc744 \uc815\uc758\ud560 \ud544\uc694\uac00 \uc788\ub2e4. error\ub294 \uc624\ucc28\uc774\ub2e4.<\/span>
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\uc989, \ubaa9\ud45c\uac12\uc5d0\uc11c \ud604\uc7ac\uac12\uc744 \ube80 \uc218\uce58\uac00 \ub420 \uac83\uc774\ub2e4.<\/span><\/div>
\uadf8\ub9ac\uace0 \uc774 \uc624\ucc28\ub294 \ub9e4 \uc21c\uac04\uc21c\uac04 \ub2ec\ub77c\uc9c8 \uac83\uc774\ub2e4. \ub4dc\ub860\uc774 \ucca8\uc5d4 10\ub3c4 \uc624\ucc28\uac00 \uc788\ub2e4\uac00,<\/span><\/div>
 \uadf8 \ucabd\uc73c\ub85c \ud68c\uc804\uc744 \uc2dc\uc791\ud558\uba74 9\ub3c4 8\ub3c4 ... 1\ub3c4 0\ub3c4\uae4c\uc9c0 \uc810\uc810 \uc624\ucc28\uac00 \uc904\uc5b4\ub4e4\uac8c \uc544\ub2cc\uac00. \uace0\ub85c \ub9e4 \uc21c\uac04\uc21c\uac04 \uac31\uc2e0\ud574\uc918\uc57c\ud558\ub294 \ubcc0\uc218\uac00 \ub418\ub294 \uac83\uc774\ub2e4.<\/span><\/div>
\uadf8\ub807\ub2e4\uba74? \ub2f9\uc5f0\ud788 loop\uc548\uc5d0\uc11c \uc120\uc5b8\ub418\uc5b4\uc57c \ud55c\ub2e4.<\/span><\/div>

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double<\/span> Kp = 1.2<\/span>;\r\ndouble<\/span> Ki = 2.5<\/span>;\r\ndouble<\/span> Kd = 3.2<\/span>;\r\ndouble<\/span> error;\r\n\r\ndouble<\/span> desired_angle = 10<\/span>;\r\ndouble<\/span> current_angle;\r\n\r\nvoid<\/span> setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}\r\n\r\nvoid<\/span> loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n\r\n  current_angle\uac31\uc2e0 \ucf54\ub4dc;\r\n  error = desired_angle - current_angle;\r\n\r\n}<\/pre><\/div><\/font><\/div>

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\ucc98\uc74c\uc5d0 \ub123\uc740 current_angle\uac31\uc2e0\ucf54\ub4dc\ub780? \uc774\uac74 \ud604\uc7ac \uac01\ub3c4\uac12\uc744 \uc758\ubbf8\ud558\ub294\ub370, \ud604\uc7ac \ub4dc\ub860\uc774 \uae30\uc6b8\uc5b4\uc9c4 \uac01\ub3c4\uac12\ub3c4 mpu6050\uc758 \uc5f0\uc0b0\uc5d0 \uc758\ud574 \uc2e4\uc2dc\uac04\uc73c\ub85c \ubcc0\ud654\ub418\uc5b4\uc57c\ub9cc \ud55c\ub2e4. \ub530\ub77c\uc11c loop\uc548\uc5d0 \ub123\uc5b4\uc900\uac70\uace0, \uc774 \ubd80\ubd84\uc740 mpu6050\uc5d0 \uad00\ub828\ub41c \ucf54\ub529\uc774 \ud544\uc694\ud558\uae30 \ub54c\ubb38\uc5d0 \uc0dd\ub7b5\ud558\uace0 \uc704\uc640 \uac19\uc774 \ud45c\uc2dc\ud558\uc600\ub2e4.<\/span>
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\uc790, \uc774\uc81c \uc624\ucc28\uc778 error\uac00 \uc544\ub450\uc774\ub178\uc5d0\uc11c \uc120\uc5b8\ub418\uc5b4 \ud574\uc11d\uac00\ub2a5\ud574\uc84c\uc73c\ubbc0\ub85c, \ubcf8\uaca9\uc801\uc73c\ub85c PID \uc81c\uc5b4\ub97c \uc2dc\uc791\ud574\ubcf4\uc790.<\/span><\/font><\/div>

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double<\/span> Kp = <\/span>1.2<\/span>;\r\n<\/span>double<\/span> Ki = <\/span>2.5<\/span>;\r\n<\/span>double<\/span> Kd = <\/span>3.2<\/span>;\r\n<\/span>double<\/span> error;\r\n<\/span>double<\/span> error_previous;\r\n\r\n<\/span>double<\/span> desired_angle = <\/span>10<\/span>;\r\n<\/span>double<\/span> current_angle;\r\n\r\n<\/span>double<\/span> P_control, I_control, D_control;\r\n<\/span>double<\/span> Time = <\/span>0.004<\/span>;\r\n\r\n\r\n<\/span>void<\/span> <\/span>setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}\r\n\r\n<\/span>void<\/span> <\/span>loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n\r\n  current_angle\uac31\uc2e0 \ucf54\ub4dc;\r\n  error = desired_angle - current_angle;\r\n\r\n  P_control = Kp * error;\r\n  I_control = I_control + Ki * error * Time;\r\n  D_control = Kd * (error - error_previous) \/ Time;\r\n\r\n  error_previous = error;\r\n\r\n}<\/span><\/pre><\/div>

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\uc774\ubc88\uc5d4 \ucd94\uac00\ub41c \uac8c \uc880 \ub9ce\ub2e4. \uba3c\uc800 loop\uc548\uc744 \ubcf4\uba74, P\ucee8\ud2b8\ub864, I\ucee8\ud2b8\ub864, D\ucee8\ud2b8\ub864, \uadf8\ub9ac\uace0 error_previous, Time \ub4f1\uacfc \uac19\uc740 \uc0c8\ub85c\uc6b4 \ubcc0\uc218\ub4e4\uc774 \uc120\uc5b8\ub41c \uac83\uc744 \uc54c \uc218 \uc788\ub2e4.<\/span><\/font><\/div>
\uace0\ub85c \ub9e8 \uc717\ubd80\ubd84\uc5d0 \uc120\uc5b8\ud574\uc900 \uac83\uc774\ub2e4. \ud2b9\ud788 Time\uc740 \ud55c \ub8e8\ud504\uac00 \ub3c4\ub294 \ub370 \uac78\ub9ac\ub294 \uc2dc\uac04\uc744 \uc758\ubbf8\ud55c\ub2e4. \ub0b4\uac00 \ub9cc\ub4e0 \ub4dc\ub860\uc740 \ud55c \ub8e8\ud504 \ub3c4\ub294\ub370 \uac78\ub9ac\ub294 \uc2dc\uac04\uc774 \uc57d 3~4ms\uae30 \ub54c\ubb38\uc5d0 0.004\ub85c \ud574\uc900\uac74\ub370, \uc0ac\uc2e4 \uaf2d \uc774\ub807\uac8c \ud560 \ud544\uc694\ub294 \uc5c6\ub2e4. \uadf8\ub0e5 4\ub85c \ud574\ub3c4\ub418\uace0 4000\uc73c\ub85c \ud574\ub3c4\ub418\uace0. Time\uc774 \uc218\uc2dd\uc801\uc73c\ub85c \uac00\uc9c0\ub294 \uc758\ubbf8\ub294 \uadf8\ub0e5 '\uc0c1\uc218'\uc77c \ubfd0\uc774\ub2e4. \ub530\ub77c\uc11c \uc544\ubb34\ub807\uac8c\ub098 \uc9c0\uc815\ud574\uc918\ub3c4, \ub610 \ub2e4\ub978 \uc0c1\uc218\uc778 Kd\ub098 Ki\ub85c \ucee4\ubc84\ud560\ub9cc\ud55c \uc218\uc900\uc774\uae30\ub9cc \ud558\uba74 \ub418\ub294\uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uc27d\uac8c \uc0dd\uac01\ud574\uc11c, 4 * 6\uc774\ub098, 3 * 8\uc774\ub098 \ub611\uac19\uc740 \uc218 \uc544\ub2cc\uac00. \uacf1\ud574\uc11c \ub611\uac19\uc774 \ub098\uc624\uac8c \uc22b\uc790\ub97c \uc870\uc815\ud560 \uc218 \uc788\uae30 \ub54c\ubb38\uc5d0 \uaf2d time\uc744 \uc8fc\uae30\ub85c \ub9de\ucdb0\uc904 \ud544\uc694\ub294 \uc5c6\ub2e4\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>

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\uadf8\ub9ac\uace0 \uac00\uc7a5 \uc544\ub798\ubcf4\uba74 error_previous = error\ub77c\uace0 \uc120\uc5b8\ud55c \ubd80\ubd84\uc774 \uc788\ub2e4. \uc544\ub450\uc774\ub178\uc5d0\uc11c\ub294 \uc774\ub7f4 \ub54c \uc6b0\uce21\uc5d0 \uc788\ub294 \ub140\uc11d\uc744 \uc88c\uce21\uac12\uc73c\ub85c \uc800\uc7a5\ud558\ub77c\uace0 \ud574\uc11d\ud55c\ub2e4.<\/span><\/font><\/div>
\uc989, error_previous\ub77c\ub294\uac74 \uc9c0\uae08 \ub8e8\ud504\uac00 \uc544\ub2c8\ub77c \ubc14\ub85c \uc774 \uc804\uc5d0 \ub8e8\ud504\uac00 \uc2e4\ud589\ub420 \ub54c\uc758 error\uac12\uc744 \uc758\ubbf8\ud55c\ub2e4.<\/span><\/font><\/div>

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\ub9cc\uc57d \ucc98\uc74c error\uac00 3\uc774\ub77c\uace0 \ud574\ubcf4\uc790. \uadf8\ub7ec\uba74 loop\ub294 \uc704\uc5d0\uc11c\ubd80\ud130 \uc544\ub798\ub85c \uc2e4\ud589\ub420 \uac83\uc774\ubbc0\ub85c error_previous\uc5d0\ub3c4 3\uc774 \uc800\uc7a5 \ub420 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uadf8\ub9ac\uace0 loop\uac00 \ub2e4\uc2dc \ub3cc\uc558\uc744 \ub54c, \uac31\uc2e0\ub41c \ud604\uc7ac\uac01\ub3c4\uc5d0 \uc758\ud574 \uc624\ucc28\uc778 error\uac00 5\uac00 \ub418\uc5c8\ub2e4\uace0 \ud574\ubcf4\uc790. \uadf8\ub9ac\uace0 D_control\uc744 \ubcf4\uba74, Kd * (5 - 3) \/ 0.004 \uac00 \ub420 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uc989 \ucee8\ud2b8\ub864 \ubd80\ubd84\uc5d0\uc11c \uacc4\uc0b0\ud560 \ub54c \ubc14\ub85c \uc9c1\uc804\uc758 \uc5d0\ub7ec \uac12\uc774 previous\uc5d0 \uc800\uc7a5\ub418\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>

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I_control \ubd80\ubd84\uc740, \uae30\uc874 I_control \uac12\uc5d0\ub2e4\uac00 \ucd94\uac00\ub85c I \uc81c\uc5b4\ub97c \ud1b5\ud574 \uc5bb\uc740 \uac12\uc744 \ub354\ud558\ub77c\ub294 \uac83\uc774\ub2e4. \uc774\uc804 \ud3ec\uc2a4\ud305\uc5d0\uc11c I \uc81c\uc5b4\uc758 \uc5ed\ud560\uc774 \uc624\ucc28\ub97c \ub204\uc801\uc2dc\ucf1c \ucd5c\uc885\uc801\uc73c\ub85c \uc624\ucc28\ub97c 0\uc73c\ub85c \ubcf4\ub0b4\ub294 \ub370 \uc788\ub2e4\uace0 \ud588\ub294\ub370, \uc774\uc640 \uac19\uc740 \ubc29\ubc95\uc73c\ub85c '\ub204\uc801' \uc2dc\ud0a8\ub2e4.<\/span><\/font><\/div>
\ub2e4\ub9cc \uc5b8\uc5b4\uc801\uc73c\ub85c \uc880 \ub354 \ud3b8\ud558\uac8c \uc4f8 \uc218 \uc788\ub2e4.<\/span><\/font><\/div>

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I_control += Ki * error * Time<\/span><\/font><\/div>

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\uc774\ub807\uac8c +=\ub77c\uace0 \ud558\uba74, \uc704\uc640 \ub611\uac19\uc740 \uc758\ubbf8\ub97c \uac00\uc9c4\ub2e4. \uadf8\ub0e5 \uc5b8\uc5b4\uc801\uc778 \uac83\uc774\ub2c8\uae4c \uc678\uc6b0\uace0 \uc0ac\uc6a9\ud558\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>

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\uc774\uc81c \ub2e4\uc74c\uc73c\ub85c \ub118\uc5b4\uac00\ubcf4\uc790.<\/span><\/font><\/div>

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double<\/span> Kp = <\/span>1.2<\/span>;\r\n<\/span>double<\/span> Ki = <\/span>2.5<\/span>;\r\n<\/span>double<\/span> Kd = <\/span>3.2<\/span>;\r\n<\/span>double<\/span> error;\r\n<\/span>double<\/span> error_previous;\r\n\r\n<\/span>double<\/span> desired_angle = <\/span>10<\/span>;\r\n<\/span>double<\/span> current_angle;\r\n\r\n<\/span>double<\/span> P_control, I_control, D_control;\r\n<\/span>double<\/span> Time = <\/span>0.004<\/span>;\r\n<\/span>double<\/span> PID_control;\r\n\r\n<\/span>void<\/span> <\/span>setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}\r\n\r\n<\/span>void<\/span> <\/span>loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n\r\n  current_angle\uac31\uc2e0 \ucf54\ub4dc;\r\n  error = desired_angle - current_angle;\r\n\r\n  P_control = Kp * error;\r\n  I_control += Ki * error * Time;\r\n  D_control = Kd * (error - error_previous) \/ Time;\r\n\r\n  PID_control = P_control + I_control + D_control;\r\n  PID_control = constrain(PID_control, 0, 255);\r\n  analogWrite(6, PID_control);\r\n\r\n  error_previous = error;\r\n\r\n}<\/span><\/pre><\/div>

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PID_control\uc774\ub77c\ub294 \ubcc0\uc218\ub97c \ub610 \ub9cc\ub4e4\uc5c8\ub2e4. \ub9d0\ud588\ub4ef\uc774, PID\uc81c\uc5b4\uac12\uc740 P, I, D \uc81c\uc5b4\ub97c \ud1b5\ud574 \ub098\uc628 \uac12\ub4e4\uc744 \ubaa8\ub450 \ub354\ud55c \uac12\uc774\ubbc0\ub85c \uadf8\ub0e5 \ub354\ud574\uc900 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uadf8 \ub4a4\uc5d0 \ub098\uc624\ub294 constrain\uc740, \uc544\ub450\uc774\ub178\uc5d0\uc11c \uc81c\uacf5\ud558\ub294 \ud568\uc218\uc774\ub2e4.<\/span><\/font><\/div>
\uc800\uac78 \uc27d\uac8c \uc598\uae30\ud558\uba74, PID_control\uc774\ub77c\ub294 \uac12\uc774 0\ubd80\ud130 255\uae4c\uc9c0\uc758 \uc22b\uc790 \ubc94\uc704\ub97c \uac00\uc9c0\ub3c4\ub85d \uc81c\ud55c\ud558\ub294 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\uc608\ub97c\ub4e4\uc5b4 PID_control\uc774 -100\uc774\ub77c\ub294 \uac12\uc774 \ub418\uba74, 0\uc73c\ub85c \uc800\uc7a5\uc774 \ub418\uace0, 1000\uc774\ub77c\ub294 \uac12\uc774 \ub418\uba74 255\ub85c \uc800\uc7a5\uc774 \ub41c\ub2e4. 0\uacfc 255\uc0ac\uc774\uc758 \uac12\uc740 \uadf8 \uac12 \uadf8\ub300\ub85c \uc800\uc7a5\ub41c\ub2e4.<\/span><\/font><\/div>
\uc774\ub807\uac8c \ud574\uc8fc\ub294 \uc774\uc720\ub294, \uadf8 \ub4a4\uc5d0 \ub098\uc624\ub294 anaglogWrite\uc774\ub77c\ub294 \ud568\uc218\uac00 0\ubd80\ud130 255\uc0ac\uc774\uc758 \uc22b\uc790\ub9cc \ubc1b\uc544\ub4e4\uc774\uae30 \ub54c\ubb38\uc774\ub2e4.<\/span><\/font><\/div>

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analogWrite\uc740 \uc804\uc555\uc744 \uc778\uac00\ud558\ub294 \ud568\uc218\ub85c, 6\ubc88 \ud540\uc5d0 0~255 \uc0ac\uc774\uc5d0 \ud574\ub2f9\ud558\ub294 \uc804\uc555\uc744 \uc8fc\ub77c\ub294 \uba85\ub839\uc2e0\ud638\ub2e4. 0\uc740 0V, 255\ub294 5V\ub97c \uc8fc\uac8c \ub418\ub294\ub370<\/span><\/font><\/div>
\uc0ac\uc2e4 \uc2e4\uc81c \ub4dc\ub860\uc744 \ub9cc\ub4e4 \ub54c\ub294 \uc774 \ud568\uc218\ub97c \uc4f0\uc9c0 \uc54a\uc744 \uac83\uc774\ub2e4. servo \ub77c\uc774\ube0c\ub7ec\ub9ac\ub97c \ud65c\uc6a9\ud558\uc5ec \ub2e4\ub978 \ud568\uc218\ub97c \uc4f8 \uc608\uc815\uc778\ub370<\/span><\/font><\/div>
\uc774 \ud3ec\uc2a4\ud305\uc758 \ubaa9\uc801\uc740 \uc544\ubb34\ud2bc PID \uc81c\uc5b4 \ucf54\ub4dc\uc758 \uae30\ubcf8\uc744 \uc124\uba85\ud558\ub294 \uac83\uc774\uae30 \ub54c\ubb38\uc5d0 \uadf8\ub0e5 \uadf8\ub300\ub85c \uac00\ub294\uac78\ub85c..<\/span><\/font><\/div>

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\ucd5c\uc885\uc801\uc73c\ub85c \ub098\uc628 PID_control \uc774\ub77c\ub294 \uac12\uc774 \uac00\uc7a5 \uc911\uc694\ud558\ub2e4. \uc774\uac8c PID \uc81c\uc5b4\ub97c \ud1b5\ud574 \uad6c\ud55c \uc81c\uc5b4\uac12\uc774 \ub418\uae30 \ub54c\ubb38\uc774\ub2e4.<\/strong><\/span><\/font><\/div>

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\ub2e4\uc74c\uc73c\ub85c, \uc870\uae08 \ubcf4\uae30\uc88b\uac8c \ucf54\ub4dc\ub97c \uc815\ub9ac\ud558\uae30 \uc704\ud574 \ub2e4\uc74c\uacfc \uac19\uc774 \ud574\ubcf4\uc558\ub2e4.<\/span><\/font><\/div>

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double<\/span> Kp = <\/span>1.2<\/span>;\r\n<\/span>double<\/span> Ki = <\/span>2.5<\/span>;\r\n<\/span>double<\/span> Kd = <\/span>3.2<\/span>;\r\n<\/span>double<\/span> error;\r\n<\/span>double<\/span> error_previous;\r\n\r\n<\/span>double<\/span> desired_angle = <\/span>10<\/span>;\r\n<\/span>double<\/span> current_angle;\r\n\r\n<\/span>double<\/span> P_control, I_control, D_control;\r\n<\/span>double<\/span> Time = <\/span>0.004<\/span>;\r\n<\/span>double<\/span> PID_control;\r\n\r\n<\/span>void<\/span> <\/span>setup<\/span>() {\r\n  \/\/ put your setup code here, to run once:\r\n\r\n}\r\n\r\n<\/span>void<\/span> <\/span>loop<\/span>() {\r\n  \/\/ put your main code here, to run repeatedly:\r\n  pidcontrol();\r\n\r\n}\r\n\r\n<\/span>void<\/span> <\/span>pidcontrol<\/span>() {\r\n\r\n  current_angle\uac31\uc2e0 \ucf54\ub4dc;\r\n  error = desired_angle - current_angle;\r\n\r\n  P_control = Kp * error;\r\n  I_control += Ki * error * Time;\r\n  D_control = Kd * (error - error_previous) \/ Time;\r\n\r\n  PID_control = P_control + I_control + D_control;\r\n  PID_control = constrain(PID_control, 0, 255);\r\n  analogWrite(6, PID_control);\r\n\r\n  error_previous = error;\r\n\r\n\r\n}<\/span><\/pre><\/div>

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\ubb50\uac00 \ub2ec\ub77c\uc84c\ub098?<\/span><\/font><\/div>
\ubc14\ub85c void pidcontrol \uc774\ub77c\ub294\uac78 \ub9cc\ub4e4\uc5c8\ub2e4\ub294 \ub370 \uc788\ub2e4. \uc774\uac74 \uc27d\uac8c \ub9d0\ud574, \uadf8\ub0e5 \uadf8\ub8f9\uc73c\ub85c \ubb36\uc5b4\ub193\ub294\uac70\ub77c\uace0 \ubcf4\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>
loop\uac00 \uac00\uc7a5 \uc911\uc694\ud55c \ubd80\ubd84\uc778\ub370, \uc704\uc704\ucc98\ub7fc loop\uc548\uc5d0 \ubaa8\ub4e0 \ucf54\ub4dc\ub97c \uc791\uc131\ud558\uac8c \ub418\uba74 \ubcf4\uae30\uac00 \ub9e4\uc6b0 \ubd88\ud3b8\ud558\ub2e4. \ub54c\ubb38\uc5d0 \ud56d\ubaa9\ubcc4\ub85c \ubb36\uc5b4\uc11c \ub530\ub85c \uc774\ub807\uac8c \uc815\ub9ac\ud574\ub193\ub294 \uac83\uc774\ub2e4. loop\uc548\uc5d0\ub294 pidcontrol() \uc774\ub77c\uace0\ub9cc \uc120\uc5b8\ud574\uc8fc\uba74, pidcontrol\uc774\ub77c\uace0 \uc120\uc5b8\ub41c \uadf8\ub8f9\uc774 \uc2e4\ud589\ub418\uac8c \ub41c\ub2e4.<\/span><\/font><\/div>
\uace0\ub85c \uc704\ub791 \uc704\uc704\ub294 \ub611\uac19\uc740 \ucf54\ub4dc\uc774\ub2e4! \uc815\ub9ac\ud574\uc11c \ubcf4\uae30\uac00 \ub354 \uc218\uc6d4\ud560 \ubfd0!<\/span><\/font><\/div>

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\uc774\uac8c \uc804\ubd80\ub2e4!<\/span><\/font><\/div>
PID \uc81c\uc5b4\ub294 \uc774\ub807\uac8c \ud558\uba74 \ub41c\ub2e4. \uc2dc\uc791\ud560\ub54c \uc624\ucc28\ub294 10\ub3c4\uc600\uaca0\uc9c0\ub9cc \uc2dc\uac04\uc774 \ud750\ub974\uba74 0\uc73c\ub85c \uc810\uc810 \uc904\uc5b4\ub4e4\uc5b4 \uc6d0\ud558\ub294 \ubaa9\ud45c\uac12\uc5d0 \ub3c4\ub2ec\ud560 \uac83\uc774\ub2e4.<\/span><\/font><\/div>
\ub2e8, Kp, Ki, Kd\ub77c\ub294 \uac8c\uc778\uac12\uc744 \uc798 \ub9de\ucd94\uc5c8\ub2e4\uba74 \ub9d0\uc774\ub2e4. \uc774\uc804 \ud3ec\uc2a4\ud305\uc5d0\uc11c \uc6c0\uc9e4\uc744 \ud558\ub098 \uc0ac\uc6a9\ud588\uc5c8\ub294\ub370, \uadf8\uac83\ucc98\ub7fc \ubc18\uc751\uc744 \ubcf4\uc77c \uac83\uc774\ub2e4. \uc81c\ub300\ub85c \uac8c\uc778\uac12\uc744 \ub9de\ucd94\uc9c0 \uc54a\uc73c\uba74 \uc624\ucc28\uac00 \uc624\ud788\ub824 \ub354 \ucee4\uc9c8 \uc218\ub3c4 \uc788\ub2e4. \ub4dc\ub860\uc774\ub77c\ub294 \uc2dc\uc2a4\ud15c\uc5d0 \ub9de\ucdb0 \uc801\ub2f9\ud55c \uac12\uc744 \ub9de\ucdb0\uc8fc\uc5b4\uc57c \ud558\ub294\ub370 \uc774 \ubd80\ubd84\uc740 \uc2e4\ud5d8\uc744 \ud1b5\ud574\uc11c \uac80\uc99d\ud560 \uc218 \uc788\ub2e4.<\/span><\/font><\/div>

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\uc544\ubb34\ud2bc \uc81c\uc5b4 \ucf54\ub4dc\ub294 \uc774\uc640 \uac19\ub2e4. \uc2e4\uc81c \ub4dc\ub860\uc744 \ub0a0\ub9b4\ub54c\ub294 \uc774\uc911 pid\ub77c\uace0 \ud558\uc5ec, pid \uc81c\uc5b4\ub97c \uacb9\uc73c\ub85c \uc2f8\uc11c \uc774\uc911\uc73c\ub85c \ub9cc\ub4e0 \uac78 \uc4f8\ud150\ub370 \ubcc4\ub85c \uc5b4\ub824\uc6b8 \uac74 \uc5c6\ub2e4. \ub611\uac19\ub2e4! \uadf8\ub0e5 \uacb9\uc73c\ub85c \ud55c\ubc88 \uc2f8\uc8fc\uae30\uba74 \ud558\uba74 \ub41c\ub2e4.<\/span><\/font><\/div>\n","protected":false},"excerpt":{"rendered":"
\ucd9c\ucc98 : http:\/\/hyongdoc.tistory.com\/51 PID \uc774\ud574\ub97c \uc704\ud574 \uac00\uc7a5 \uc911\uc694\ud55c \uac83\uc740, \ubc14\ub85c \uc624\ucc28\uc758 \uac1c\ub150\uc774\ub2e4. \uc624\ucc28\ub780? \ub9d0 \uadf8\ub300\ub85c \uc624\ucc28\ub2e4. \uc704\uc5d0\uc11c \uc608\ub97c \ub4e4\uc5c8\ub4ef\uc774 \ub9cc\uc57d \ub4dc\ub860\uc774 \uc9c0\uae08 \uc218\ud3c9\uc0c1\ud0dc\ub85c \uc788\ub294\ub370 \ub0b4\uac00 10\ub3c4 \uae30\uc6b8\uc774\ub780 \uba85\ub839\uc744 \uc92c\ub2e4\uace0 \ud558\uc790. \uadf8\ub807\ub2e4\uba74 \uc9c0\uae08 \uc624\ucc28\ub294 \ubc14\ub85c 10\ub3c4\uac00 \ub418\ub294 \uac83\uc774\ub2e4. \uc2dc\uac04\uc774 \ud758\ub7ec \ub4dc\ub860\uc774 11\ub3c4\uae4c\uc9c0 \uc654\ub2e4\uba74 \uc624\ucc28\ub294 -1\ub3c4\uac00 \ub418\ub294 \uc2dd\uc774\ub2e4. \uc790, \ubcf8\uaca9\uc801\uc73c\ub85c \uc124\uba85\ud558\uae30\uc5d0 \uc55e\uc11c \uc624\ucc28\ub97c \uc5b4\ub5bb\uac8c \uadf9\ubcf5\ud558\ub294\uc9c0 \uc880\ub354 \uad6c\uccb4\uc801\uc73c\ub85c […]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center 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