{"id":105,"date":"2025-12-04T15:16:46","date_gmt":"2025-12-04T07:16:46","guid":{"rendered":"http:\/\/124.222.181.131\/?p=105"},"modified":"2025-12-04T15:16:50","modified_gmt":"2025-12-04T07:16:50","slug":"%e9%ab%98%e7%ba%a7pid%e8%b0%83%e6%a0%a1%e6%95%99%e7%a8%8b-%e8%bd%ac%e8%87%aa%e3%80%8a%e7%a9%bf%e8%b6%8a%e6%9c%ba%e6%8a%80%e6%9c%af%e5%9f%ba%e7%a1%80%e3%80%8b%e7%a9%bf%e8%b6%8a%e6%9c%ba%e9%a3%9e","status":"publish","type":"post","link":"https:\/\/fpvtop.com\/?p=105","title":{"rendered":"\u9ad8\u7ea7PID\u8c03\u6821\u6559\u7a0b \u8f6c\u81ea\u300a\u7a7f\u8d8a\u673a\u6280\u672f\u57fa\u7840\u300b\u7a7f\u8d8a\u673a\u98de\u63a7PID\u8c03\u53c2\u5165\u95e8\u57fa\u7840"},"content":{"rendered":"\n<p><strong>\u524d \u8a00<\/strong><\/p>\n\n\n\n<p><strong>\u7a7f\u8d8a\u673a\u6280\u672f\u5165\u95e8\u601d\u7ef4\u5bfc\u56fe<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-12053f21b2ea6ab4734a115269bd76af_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u672c\u6587\u662f\u4e00\u4e2a\u5177\u4f53\u98de\u673a\u7684\u5b9e\u9a8c\u7b14\u8bb0\u6574\u7406\u800c\u6210\uff0c\u52a0\u5165\u4e86\u65b0\u540c\u5b66\u4e0d\u592a\u5bb9\u6613\u627e\u5230\u7684\u4e00\u4e9b\u5fc5\u5b66\u77e5\u8bc6\u70b9\uff0c\u5bf9\u4e00\u4e9b\u5bb9\u6613\u6b67\u4e49\u7684\u6982\u5ff5\u8fdb\u884c\u91cd\u70b9\u8bf4\u660e\uff0c\u4f60\u53ef\u4ee5\u5728\u96f6\u57fa\u7840\u65f6\u5c31\u4f7f\u7528\u5b83\u3002<\/p>\n\n\n\n<p>\u7ec4\u88c5\u7a7f\u8d8a\u673a\u79bb\u4e0d\u5f00\u98de\u63a7\u8c03\u53c2\uff0cPID\u53c2\u6570\u7684\u8bbe\u7f6e\u662f\u98de\u63a7\u8c03\u53c2\u7684\u96be\u70b9\u4e4b\u4e00\uff0c\u521d\u5165\u7a7f\u8d8a\u673a\u7ec4\u88c5\u7684\u65b0\u540c\u5b66\u5bf9PID\u53c2\u6570\u8bbe\u7f6e\u5341\u5206\u754f\u60e7\uff0c\u4e3b\u8981\u662f\u4e0d\u77e5\u9053\u8be5\u600e\u4e48\u5f00\u59cb\u3002\u672c\u6587\u5c06PID\u57fa\u7840\u53c2\u6570\u8bbe\u7f6e\u7684\u65b9\u6cd5\uff0c\u901a\u8fc7\u5b9e\u9a8c\u8bb0\u5f55\u7684\u65b9\u5f0f\uff0c\u63d0\u4f9b\u7ed9\u65b0\u5165\u5751\u7a7f\u8d8a\u673a\u7ec4\u88c5\u7684\u540c\u5b66\uff0c\u7ed9\u65b0\u540c\u5b66\u4e00\u4e2a\u66f4\u597d\u7684\u5f00\u59cb\uff0c\u7545\u5feb\u98de\u884c\u4e0d\u8ff7\u8def\u3002<\/p>\n\n\n\n<p>\u7a7f\u8d8a\u673a\u6280\u672f\u57fa\u7840\u4e2d\uff0c\u7ec4\u88c5\u7a7f\u8d8a\u673a\u9664\u4e86\u4f7f\u7528\u4f18\u79c0\u7684\u65b9\u6848\u3001\u9ad8\u8d28\u91cf\u7684\u786c\u4ef6\u3001\u8fc7\u786c\u7684\u7ec4\u88c5\u5de5\u827a\u5916\uff0c\u8c03\u53c2\u4e5f\u662f\u81f3\u5173\u91cd\u8981\u7684\u4e00\u4e2a\u73af\u8282\uff0cPID\u8c03\u53c2\u548c\u8bd5\u98de\u6280\u80fd\u662f\u4e0d\u53ef\u6216\u7f3a\u7684\u90e8\u5206\u3002\u56e0\u4e3a\u56fa\u4ef6\u548c\u8c03\u53c2\u5de5\u5177\u5728\u4e0d\u65ad\u66f4\u65b0\uff0c\u5f88\u591a\u65b0\u540c\u5b66\u89c9\u5f97\u96be\u4e8e\u9002\u5e94\uff0c\u6709\u4e9b\u66f4\u4e0d\u77e5\u9053\u5982\u4f55\u4e0b\u624b\u53bb\u8c03\uff0c\u5bfc\u81f4\u98de\u673a\u88c5\u597d\u4e86\uff0c\u53c2\u6570\u8bbe\u7f6e\u5f97\u4e0d\u597d\uff0c\u600e\u4e48\u5f04\u90fd\u4e0d\u597d\u98de\u3002\u4e0d\u5c11\u65b0\u540c\u5b66\u88c5\u673a\u9884\u7b97\u5f88\u7d27\u5f20\uff0c\u4e3a\u4e86\u8282\u7ea6\u8d2d\u4e70\u786c\u4ef6\u7684\u8d39\u7528\uff0c\u4e0d\u5f97\u4e0d\u4e70\u4e00\u4e9b\u5ec9\u4ef7\u7684\u673a\u67b6\u548c\u7535\u673a\uff0c\u7ec4\u88c5\u597d\u98de\u673a\u540e\uff0c\u56e0\u673a\u67b6\u632f\u52a8\u4e25\u91cd\uff0c\u9020\u6210\u4e00\u7cfb\u5217\u566a\u58f0\u5e72\u6270\uff0c\u98de\u673a\u603b\u662f\u98de\u4e0d\u7a33\uff0c\u4e0d\u662f\u52a0\u6cb9\u632f\u5c31\u662f\u8fc7\u5f2f\u6296\uff0c\u8981\u4e0d\u5c31\u662f\u62bd\u98ce\u3002\u5982\u679c\u4f60\u4e5f\u9047\u5230\u4e86\u8fd9\u4e9b\u95ee\u9898\uff0c\u53ef\u4ee5\u53c2\u8003\u6587\u4e2d\u8303\u4f8b\u7684\u5177\u4f53\u8bbe\u7f6e\u65b9\u6cd5\uff0c\u5b66\u4f1a\u4f7f\u7528\u5404\u79cd\u8c03\u53c2\u5de5\u5177\u5904\u7406\u8c03\u53c2\u7684\u95ee\u9898\uff0c\u4f1a\u5f88\u5feb\u627e\u5230\u89e3\u51b3\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p><strong>\u7b2c\u4e00\u8282 PID\u63a7\u5236\u6982\u5ff5<\/strong><\/p>\n\n\n\n<p>PID\u63a7\u5236\u662f\u4e00\u4e2a\u7528\u4e8e\u4fee\u6b63\u8f93\u5165\u4e0e\u8f93\u51fa\u63a7\u5236\u8bef\u5dee\u7684\u95ed\u73af\u63a7\u5236\u7cfb\u7edf\uff0c\u5728\u4eba\u7c7b\u79d1\u6280\u6d3b\u52a8\u4e2d\u5386\u53f2\u60a0\u4e45\uff0c\u5f97\u5230\u5927\u91cf\u7684\u5e94\u7528\uff0c\u5b83\u662f\u4e00\u4e2a\u6a21\u62df\u91cf\u76ee\u6807\u63a7\u5236\u7cfb\u7edf\uff0c\u7b80\u5355\u5b9e\u7528\u3002<\/p>\n\n\n\n<p><strong>1\u3001PID\u662f<\/strong>\u6bd4\u4f8b\u3001<strong>\u79ef\u5206\u3001<\/strong>\u5fae\u5206<strong>\u63a7\u5236\u7684\u82f1\u6587\u7b80\u5199<\/strong>\uff08proportional-integral-derivative control\uff09\u3002PID\u63a7\u5236\u7b56\u7565\u5e7f\u6cdb\u7528\u4e8e\u5de5\u4e1a\u8fc7\u7a0b\u63a7\u5236\uff0c\u5728\u673a\u68b0\u8fd0\u52a8\u63a7\u5236\u4e0a\uff0c\u7279\u522b\u5728\u7535\u673a\u9a71\u52a8\u63a7\u5236\u4e2d\u6709\u7740\u5e7f\u6cdb\u7684\u5e94\u7528\u3002PID\u63a7\u5236\u7b56\u7565\u662f\u4e00\u79cd\u95ed\u73af\u56de\u8def\u63a7\u5236\u7cfb\u7edf\uff0c\u6839\u636e\u7ed9\u5b9a\u503c\u548c\u5b9e\u9645\u8f93\u51fa\u503c\u6784\u6210\u63a7\u5236\u504f\u5dee\uff0c\u5c06\u504f\u5dee\u6309\u6bd4\u4f8b\u3001\u79ef\u5206\u548c\u5fae\u5206\u901a\u8fc7\u7ebf\u6027\u7ec4\u5408\u6784\u6210\u63a7\u5236\u91cf\uff0c\u5bf9\u88ab\u63a7\u5bf9\u8c61\u8fdb\u884c\u63a7\u5236\u3002PID\u7b97\u6cd5\u5c31\u548c\u6211\u4eec\u5e38\u7528\u7684\u52a0\u51cf\u4e58\u9664\u6cd5\u4e00\u6837\uff0c\u662f\u4e00\u79cd\u5e38\u7528\u7684\u6570\u5b66\u8ba1\u7b97\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p><strong>2\u3001PID\u63a7\u5236\u6d41\u7a0b\u56fe\uff1a<\/strong>\u8f93\u5165-\u8fd0\u7b97-\u8f93\u51fa-\u7ed3\u679c\u53cd\u9988-\u4fee\u6b63\u8fd0\u7b97-\u518d\u8f93\u51fa-\u518d\u53cd\u9988\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-aae235cd7fb18d1ff6cf337a5fd91bc9_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">PID\u63a7\u5236\u5668\u7ed3\u6784\u56fe<\/figcaption><\/figure>\n\n\n\n<p><strong>3\u3001\u98de\u63a7PID\u7684\u63a7\u5236\u673a\u5236\uff1a<\/strong>\u7a7f\u8d8a\u673a\u98de\u63a7\u4e2d\u7684PID\u63a7\u5236\u7b56\u7565\uff0c\u7531P\u7ed9\u5b9a\u503c\uff08\u52a8\u4f5c\u9884\u671f\u4e0e\u529b\u5ea6\uff09\u3001\u6267\u884c\u529b\u5ea6\u5fae\u5206\u548c\u963b\u788dD\uff08\u7535\u673a\u6267\u884c\u6bd4\u4f8b\u9650\u5236\uff09\uff0cI\u504f\u5dee\u4fee\u6b63\uff08\u89d2\u5ea6\u8bef\u5dee\u4fee\u6b63\uff09\u7ec4\u6210\u95ed\u73af\u63a7\u5236\uff0c\u4f7f\u98de\u673a\u7684\u59ff\u6001\u89d2\u5ea6\u6309\u7167\u9884\u671f\u503c\u53d8\u5316\uff0c\u77ac\u65f6\u9501\u5b9a\u76ee\u6807\u59ff\u6001\u3002\u4f8b\u5982\u5c06\u89d2\u901f\u5ea6\u8bbe\u7f6e\u4e3a500\u00b0\/\u79d2\uff0c\u5bf9\u5e94\u7684\u6a2a\u6eda\u6216\u4fef\u4ef0\u6447\u6746\u62c9\u5230100%\u65f6\uff0c\u98de\u673a\u59ff\u6001\u89d2\u5ea6\u5c06\u4ee5\u6bcf\u79d2500\u00b0\u6539\u53d8\uff0c\u76f4\u5230\u6746\u91cf\u56de\u4e2d\u4e3a\u6b62\u3002\u5047\u5982P\u671f\u671b\u8fd9\u4e2a\u8fd0\u52a8\u8d8b\u52bf\u57281000ms\u5185\u5b8c\u6210\uff0cD\u7ed9\u51fa\u76f8\u5e94\u7684\u529b\u5ea6\u53bb\u5b9e\u73b0\uff0c\u5982\u679c\u8fbe\u4e0d\u5230\u6216\u8005\u8d85\u8fc7\u4e00\u4e9b\uff0c\u901a\u8fc7I\u7684\u4fee\u6b63\u5feb\u901f\u8c03\u6574\u529b\u5ea6\uff0c\u4ee5\u66f4\u77ed\u7684\u65f6\u95f4\u8fbe\u6210P\u7684\u9884\u671f\uff0c\u5e76\u4fdd\u6301\u8be5\u53d8\u5316\u91cf\u7ee7\u7eed\u8fdb\u884c\u6216\u8005\u505c\u6b62\u3002<\/p>\n\n\n\n<p><strong>\u4e00\u53e5\u8bdd\u7406\u89e3\uff1a<\/strong>\u98de\u63a7PID\u63a7\u5236\u662f\u5b8c\u6210\u9065\u63a7\u5668\u8f93\u51fa\u6307\u4ee4\uff0c\u5728\u9884\u671f\u65f6\u95f4\u5185\u9501\u5b9a\u59ff\u6001\u89d2\u5ea6\u7684\u63a7\u5236\u673a\u5236\u3002<\/p>\n\n\n\n<p><strong>4\u3001PID\u5404\u73af\u8282\u4f5c\u7528\uff1a<\/strong>PID\u63a7\u5236\u5668\u5404\u6821\u6b63\u73af\u8282\u7684\u4f5c\u7528\u5982\u4e0b\u3002<\/p>\n\n\n\n<p><strong>\u6bd4\u4f8bP\u73af\u8282\uff1a<\/strong>\u5373\u65f6\u6210\u6bd4\u4f8b\u5730\u53cd\u5e94\u63a7\u5236\u7cfb\u7edf\u7684\u504f\u5dee\u4fe1\u53f7e(t)\uff0c\u504f\u5dee\u4e00\u65e6\u4ea7\u751f\uff0c\u63a7\u5236\u5668\u7acb\u5373\u4ea7\u751f\u63a7\u5236\u4f5c\u7528\u4ee5\u51cf\u5c0f\u8bef\u5dee\u3002\u5f53\u504f\u5deee=0\u65f6\uff0c\u63a7\u5236\u4f5c\u7528\u4e5f\u4e3a0\u3002\u56e0\u6b64\uff0c\u6bd4\u4f8b\u63a7\u5236\u662f\u57fa\u4e8e\u504f\u5dee\u8fdb\u884c\u8c03\u8282\u7684\uff0c\u5373\u6709\u5dee\u8c03\u8282\u3002<\/p>\n\n\n\n<p><strong>\u79ef\u5206I\u73af\u8282\uff1a<\/strong>I\u662f\u4e00\u4e2a\u65f6\u95f4\u5e38\u6570\uff0cI\u80fd\u5bf9\u8bef\u5dee\u8fdb\u884c\u8bb0\u5fc6\uff0c\u4e3b\u8981\u7528\u4e8e\u6d88\u9664\u9759\u5dee\uff0c\u63d0\u9ad8\u7cfb\u7edf\u7684\u65e0\u5dee\u5ea6\uff0c\u79ef\u5206\u4f5c\u7528\u7684\u5f3a\u5f31\u53d6\u51b3\u4e8e\u79ef\u5206\u65f6\u95f4\u5e38\u6570Ti\uff0cTi\u8d8a\u5927\uff0c\u79ef\u5206\u4f5c\u7528\u8d8a\u5f31\uff0c\u53cd\u4e4b\u5219\u8d8a\u5f3a\u3002<\/p>\n\n\n\n<p><strong>\u5fae\u5206D\u73af\u8282\uff1a<\/strong>D\u80fd\u53cd\u6620\u504f\u5dee\u4fe1\u53f7\u7684\u53d8\u5316\u8d8b\u52bf(\u53d8\u5316\u901f\u7387)\uff0c\u5e76\u80fd\u5728\u504f\u5dee\u4fe1\u53f7\u503c\u53d8\u5f97\u592a\u5927\u4e4b\u524d\uff0c\u5728\u7cfb\u7edf\u4e2d\u5f15\u5165\u4e00\u4e2a\u6709\u6548\u7684\u65e9\u671f\u4fee\u6b63\u4fe1\u53f7\uff0c\u4ece\u800c\u52a0\u5feb\u7cfb\u7edf\u7684\u52a8\u4f5c\u901f\u5ea6\uff0c\u51cf\u5c0f\u8c03\u8282\u65f6\u95f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-ef62b35038e5354d6d374090a779e362_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">PID\u63a7\u5236\u5668\u63a7\u5236\u89c4\u5f8b\u516c\u5f0f<\/figcaption><\/figure>\n\n\n\n<p>\u4ece\u65f6\u95f4\u7684\u89d2\u5ea6\u8bb2\uff0c\u6bd4\u4f8b\u4f5c\u7528\u662f\u9488\u5bf9\u7cfb\u7edf\u5f53\u524d\u8bef\u5dee\u8fdb\u884c\u63a7\u5236\uff0c\u79ef\u5206\u4f5c\u7528\u5219\u9488\u5bf9\u7cfb\u7edf\u8bef\u5dee\u7684\u5386\u53f2\uff0c\u800c\u5fae\u5206\u4f5c\u7528\u5219\u53cd\u6620\u4e86\u7cfb\u7edf\u8bef\u5dee\u7684\u53d8\u5316\u8d8b\u52bf\uff0c\u8fd9\u4e09\u8005\u7684\u7ec4\u5408\u662f\u201c\u8fc7\u53bb\u3001\u73b0\u5728\u3001\u672a\u6765\u201d\u7684\u5b8c\u7f8e\u7ed3\u5408\u3002*<\/p>\n\n\n\n<p>*3-4\u5c0f\u8282\u5185\u5bb9\u767e\u5ea6\u8bcd\u6761\uff0c\u9ad8\u4e2d\u4ee5\u4e0b\u5e74\u7ea7\u540c\u5b66\u53ef\u7565\u8fc7\u3002<\/p>\n\n\n\n<p><strong>5\u3001PID\u503c\u8bbe\u7f6e\u7ecf\u9a8c\uff1a<\/strong>\u52a8\u529b\u5f3a\u7684\u98de\u673aPID\u6570\u503c\u8d8a\u5c0f\uff0c\u52a8\u529b\u5f31\u7684\u98de\u673aPID\u6570\u503c\u8d8a\u5927\uff1b\u52a8\u529b\u4e00\u5b9a\u65f6\uff0c\u98de\u673a\u91cd\u7684PID\u6570\u503c\u4e5f\u8d8a\u5927\uff0c\u98de\u673a\u8f7b\u7684PID\u53c2\u6570\u76f8\u5e94\u8d8a\u5c0f\u3002\u8fc7\u4f4e\u7684PD\u503c\uff0c\u98de\u673a\u65e0\u6cd5\u7a33\u5b9a\u98de\u884c\uff0c\u663e\u5f97\u6ca1\u6709\u529b\u5ea6\uff0c\u5f88\u96be\u9501\u5b9a\u59ff\u6001\uff1b\u4f46\u662f\uff0c\u8fc7\u9ad8\u7684PD\u503c\u4f1a\u4f7f\u98de\u673a\u52a8\u4f5c\u53d8\u5f97\u66b4\u8e81\uff0c\u4e14\u7535\u673a\u5bb9\u6613\u53d1\u70eb\uff0c\u8bbe\u7f6ePD\u53c2\u6570\u65f6\u9700\u8981\u5728\u66f4\u5927\u7684\u52a8\u529b\u548c\u9002\u5f53\u6e29\u5ea6\u4e4b\u95f4\u53d6\u820d\u3002<\/p>\n\n\n\n<p><strong>\u7b2c\u4e8c\u8282 PID\u63a7\u5236\u5728\u7a7f\u8d8a\u673a\u98de\u63a7\u4e2d\u7684\u4f5c\u7528<\/strong><\/p>\n\n\n\n<p><strong>1\u3001\u7a7f\u8d8a\u673aPID\u63a7\u5236\u7b56\u7565<\/strong>\uff1a\u5305\u542bPID\u8ba1\u7b97\u63a7\u5236\u3001Rate\u89d2\u5ea6\u63a7\u5236\u3001PID\u6ee4\u6ce2\u63a7\u5236\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-0ab02c644ab6cba67074a6df44b5b438_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u62d6\u52a8\u6ed1\u6761\uff0c\u6539\u53d8\u63a7\u5236\u53c2\u6570\uff0c\u81ea\u52a8\u751f\u6210PID\u503c\uff0c\u5927\u591a\u6570\u98de\u673a\u53ef\u901a\u8fc7\u8fd9\u79cd\u65b9\u6cd5\u9884\u7f6ePID\u63a7\u5236\u53c2\u6570\uff0c\u8bb8\u591a\u65b0\u5165\u5751\u7684\u65b0\u540c\u5b66\u4e5f\u662f\u7528\u8fd9\u79cd\u65b9\u6cd5\u6765\u8bbe\u7f6e\u98de\u673a\u7684PID\u53c2\u6570\u3002<\/p>\n\n\n\n<p><strong>2\u3001\u59ff\u6001\u89d2\u5ea6\u91c7\u6837\uff1a<\/strong><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=228448972&amp;content_type=Article&amp;match_order=1&amp;q=%E9%99%80%E8%9E%BA%E4%BB%AA%E5%A7%BF%E6%80%81%E8%A7%92%E5%BA%A6%E9%87%87%E6%A0%B7&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u9640\u87ba\u4eea\u59ff\u6001\u89d2\u5ea6\u91c7\u6837<\/a>\u6570\u636e\uff0c\u7ecf\u8fc7\u786c\u4ef6\u6ee4\u6ce2\u548c\u8fd0\u7b97\u5668\u6ee4\u6ce2\u540e\uff0c\u5c06\u98de\u673a\u4e09\u7ef4\u59ff\u6001\u89d2\u5ea6\u6570\u636e\u4e0e\u8f93\u5165\u6307\u4ee4\u4fe1\u53f7\u5bf9\u6bd4\uff0c\u5982\u6709\u8bef\u5dee\u5219\u7ee7\u7eed\u4fee\u6b63\uff0c\u76f4\u81f3\u8fbe\u5230\u8f93\u5165\u6307\u4ee4\u8981\u6c42\u4e3a\u6b62\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u77ac\u606f\u4e4b\u95f4\u4f1a\u8fdb\u884c\u5f88\u591a\u6b21\uff0c\u98de\u673a\u8f74\u8ddd\u8d8a\u5c0f\uff0c\u540c\u7b49\u65f6\u95f4\u5185\u9700\u8981\u505a\u7684\u6bd4\u5bf9\u6b21\u6570\u8d8a\u591a\uff0c\u8fd9\u5c31\u662f\u9640\u87ba\u4eea\u91c7\u6837\u901f\u7387\uff08\u6b21\u6570\/\u79d2\u3001Hz\/\u79d2\uff09\u3002<\/p>\n\n\n\n<p><strong>3\u3001\u59ff\u6001\u4fe1\u53f7\u8fd0\u7b97\u6ee4\u6ce2\uff1a<\/strong>\u5728\u5bf9\u9640\u87ba\u4eea\u59ff\u6001\u89d2\u5ea6\u91c7\u6837\u6570\u636e\u8fdb\u884c\u8fd0\u7b97\u5904\u7406\u65f6\uff0c\u8fd0\u7b97\u5668\u4f1a\u5c06\u91c7\u96c6\u5230\u7684\u771f\u5b9e\u7684\u98de\u673a\u59ff\u6001\u89d2\u5ea6\u548c\u632f\u52a8\u566a\u58f0\u4e00\u5e76\u653e\u5927\uff0c\u4f1a\u5f71\u54cd\u8f93\u51fa\u4fe1\u53f7\u51c6\u786e\u6027\u3002\u5728\u8fd0\u7b97\u65f6\uff0c\u9700\u8981\u5bf9\u65e0\u7528\u7684\u632f\u52a8\u566a\u58f0\u4fe1\u53f7\u8fdb\u884c\u6ee4\u9664\uff0c\u8fd9\u5c31\u662f\u6ee4\u6ce2\u3002<\/p>\n\n\n\n<p><strong>4\u3001\u632f\u52a8\u566a\u58f0\u5206\u5e03\uff1a<\/strong>\u5bf9<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=228448972&amp;content_type=Article&amp;match_order=1&amp;q=%E6%BB%A4%E6%B3%A2%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6ee4\u6ce2\u5668<\/a>\u7684\u6b63\u786e\u4f7f\u7528\uff0c\u8981\u5148\u4e86\u89e3\u632f\u52a8\u566a\u58f0\u9891\u7387\u5206\u5e03\u3002\u4e00\u822c\u591a\u65cb\u7ffc\u98de\u673a\u9640\u87ba\u4eea\u91c7\u6837\u7684\u632f\u52a8\u566a\u58f0\uff0c\u57280-50Hz\u4e3a\u6709\u7528\u7684\u64cd\u63a7\u4fe1\u53f7\uff08\u59ff\u6001\u89d2\u5ea6\uff09\uff0c\u4e0d\u80fd\u8fdb\u884c\u524a\u51cf\u548c\u538b\u5236\uff0c\u91c7\u6837\u65f6\u5fc5\u987b\u8981\u5b8c\u6574\uff0c\u901a\u5e38\u4f1a\u8ba4\u4e3a50Hz\u4ee5\u4e0b\u7684\u566a\u58f0\u4fe1\u53f7\u90fd\u5fc5\u987b\u8981\u4fdd\u7559\u300240-120Hz\u4e3a\u4f4e\u9891\u632f\u52a8\u566a\u58f0\u533a\uff0c\u53ef\u4ee5\u8fdb\u884c\u4e00\u5b9a\u7684\u6ee4\u9664\uff0c\u901a\u8fc7\u4f7f\u7528\u6ee4\u6ce2\u5668\u548c\u9677\u6ce2\u5668\u53c2\u6570\u8bbe\u7f6e\u6765\u538b\u5236\uff0c80-600Hz\u4e4b\u95f4\u901a\u5e38\u4f1a\u51fa\u73b0\u591a\u4e2a\u632f\u52a8\u566a\u58f0\uff0c\u5b83\u51fa\u73b0\u662f\u6709\u4e00\u5b9a\u89c4\u5f8b\u7684\uff0c\u548c\u524d\u9762\u51fa\u73b0\u7684\u8f83\u4f4e\u9891\u7387\u632f\u52a8\u5cf0\u503c\u9891\u7387\u6210\u500d\u6bd4\u5173\u7cfb\uff0c\u901a\u5e38\u7531\u4e8e\u673a\u81c2 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-6df6f56c1a82c3ed3ac2efe674d1db94_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5f53\u7136\uff0c\u4e0d\u8981\u8bd5\u56fe\u7528\u6ee4\u6ce2\uff0c\u8ba9\u90a3\u4e9b\u4f7f\u7528\u70c2\u673a\u67b6\u7684\u98de\u673a\u53d8\u5f97\u4f18\u79c0\u8d77\u6765\uff0c\u6709\u4e9b\u673a\u67b6\uff0c\u5b83\u672c\u5c31\u4e0d\u5e94\u8be5\u8bde\u751f\uff1b\u6240\u4ee5\uff0c\u65b0\u624b\u4eec\u4e00\u5b9a\u8981\u9009\u7528\u8bbe\u8ba1\u4f18\u79c0\u3001\u8d28\u5730\u4f18\u826f\u7684\u673a\u67b6\uff0c\u53ef\u4ee5\u6709\u6548\u4fdd\u8bc1\u98de\u673a\u88c5\u597d\u4e86\uff0c\u5f88\u5feb\u5c31\u80fd\u8c03\u5230\u597d\u98de\uff0c\u800c\u4e0d\u662f\u5404\u79cd\u6ee4\u4e0d\u5b8c\u7684\u632f\u52a8\u6240\u5e26\u6765\u7684\u9ebb\u70e6\u3002<\/p>\n\n\n\n<p>\u4e0a\u56fe\u4e2d\u51fa\u73b0\u7684\u4e25\u91cd\u632f\u52a8\u566a\u58f0\u5206\u5e03\u572875Hz\u3001150Hz\u3001230Hz\u9644\u8fd1\uff0c\u53ef\u4ee5\u770b\u51fa\u8fd9\u53f0\u98de\u673a\u4f7f\u7528\u4e86\u5bb9\u6613\u4ea7\u751f\u632f\u52a8\u7684\u673a\u67b6\u6216\u8005\u6868\u53f6\uff0c\u5982\u679c\u4e0d\u4f7f\u7528\u6ee4\u6ce2\u538b\u5236\u8fd9\u4e9b\u632f\u52a8\uff0c\u98de\u673a\u5f88\u5bb9\u6613\u51fa\u73b0\u7535\u673a\u70ed\u3001\u59ff\u6001\u5931\u9501\u96be\u4e8e\u64cd\u63a7\u3001\u632f\u52a8\u5931\u53bb\u5347\u529b\u3001\u5931\u63a7\u7b49\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>\u7b2c\u4e09\u8282 PID\u65e5\u5fd7\u5206\u6790\u51c6\u5907<\/strong><\/p>\n\n\n\n<p><strong>1\u3001\u672c\u6587\u5b9e\u9a8c\u98de\u673a\u65b9\u6848\u7b80\u4ecb\uff1a<\/strong>\u4e3a\u4e86\u80fd\u66f4\u597d\u89c2\u5bdf\u632f\u52a8\u566a\u58f0\u7684\u6570\u636e\uff0c\u6211\u4eec\u7528\u4e00\u5957F450\u5c3c\u9f99\u67b6\u6765\u7ec4\u88c5\u4e00\u53f0\u7a7f\u8d8a\u673a\uff0c\u53ef\u4ee5\u8ba9\u98de\u673a\u7684\u632f\u52a8\u6765\u5f97\u66f4\u8086\u65e0\u5fcc\u60ee\u4e9b\uff0cF450\u98de\u884c\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-17cb36aeaffe6e64ba35c2a3ff836c4a_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">F450\u7a7f\u8d8a\u673a\u98de\u884c\u56fe<\/figcaption><\/figure>\n\n\n\n<p>\u5bc6\u96c6\u7684\u632f\u52a8\u566a\u58f0\u6ce2\u5f62\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-84def62c1b81e7e8de1303d2fdfe422b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u5bc6\u96c6\u632f\u52a8\u566a\u58f0\u56fe\u8c31<\/figcaption><\/figure>\n\n\n\n<p>*\u98de\u673a\u786c\u4ef6\u65b9\u6848\u914d\u7f6e\uff1a<\/p>\n\n\n\n<p>\u673a\u67b6F450\u5c3c\u9f99\u673a\u67b6\u3001\u7535\u673aDJI 2312A\u3001\u597d\u76c820A PWM\u7535\u8c03\u3001DJI 9450\u81ea\u7d27\u6868\u53f6\u30014S-1500mAh-100C\u7535\u6c60\u3001F405\u98de\u63a7\u3001BF4.4.1\u98de\u63a7\u56fa\u4ef6\u3001\u5bcc\u65afA8\u4e8c\u4ee3\u534f\u8baeSBUS\u63a5\u6536\u673a\u3001\u5bcc\u65afi6X\u5341\u901a\u9053\u9065\u63a7\u5668\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u8fd9\u53f0\u7ec4\u88c5\u98de\u673a\u7684\u8c03\u53c2\u8fc7\u7a0b\uff0c\u540c\u5b66\u4eec\u7406\u89e3\u4e86\u632f\u52a8\u566a\u58f0\u7684\u4ea7\u751f\u4e0e\u6ee4\u6ce2\u8bbe\u7f6e\u539f\u7406\u540e\uff0c\u518d\u53bb\u8c03\u5e38\u89c1\u76845\u5bf8\u7a7f\u8d8a\u673a\uff0c\u518d\u4e0d\u4f1a\u89c9\u5f97\u662f\u4ef6\u56f0\u96be\u7684\u4e8b\u3002<\/p>\n\n\n\n<p><strong>2\u3001\u56fa\u4ef6\u4e0e\u8c03\u53c2\u8f6f\u4ef6\uff1a<\/strong>\u65b0\u540c\u5b66\u6709\u5fc5\u8981\u5b66\u4e60\u4e00\u4e0b\u98de\u63a7\u56fa\u4ef6\u7684\u66f4\u65b0\u4e0eConfigs\u914d\u7f6e\uff0c\u6bd5\u7adf\u8981\u7ee7\u7eed\u73a9\u4e0b\u53bb\uff0c\u8fd9\u662f\u4e00\u4e2a\u7ed5\u4e0d\u5f00\u7684\u574e\uff1b\u4e0b\u8f7d\u56fa\u4ef6\u548c\u914d\u7f6e\u6587\u4ef6\u3001\u5b89\u88c5\u98de\u63a7\u8c03\u53c2\u8f6f\u4ef6\u548c\u9a71\u52a8\u7a0b\u5e8f\u3001\u719f\u6089\u7535\u8111\u8f6f\u4ef6\u7684\u57fa\u672c\u64cd\u4f5c\uff0c\u90fd\u662f\u73a9\u98de\u673a\u5fc5\u987b\u8981\u5177\u5907\u7684\u57fa\u7840\u6280\u80fd\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u63d0\u5230\u7684\u5404\u79cd\u7a7f\u8d8a\u673a\u8f6f\u4ef6\uff0c\u4e0b\u8f7d\u5730\u5740\u8bf7\u4e8e\u6587\u540e\u9644\u4ef6\u5185\u67e5\u627e\u3002<\/p>\n\n\n\n<p>*\u5b89\u88c5\u98de\u63a7\u9a71\u52a8\u7a0b\u5e8f\uff0c\u4f7f\u7535\u8111\u64cd\u4f5c\u7cfb\u7edf\u80fd\u591f\u8ba4\u8bc6\u901a\u8fc7USB\u8fde\u63a5\u7684\u98de\u63a7\u786c\u4ef6\u578b\u53f7\uff0c\u8c03\u53c2\u8f6f\u4ef6\u80fd\u591f\u901a\u8fc7USB\u865a\u62df\u4e32\u884c\u53e3\u8fde\u63a5\u98de\u63a7\u56fa\u4ef6\u8fdb\u884c\u53c2\u6570\u8bbe\u7f6e\u3002<\/p>\n\n\n\n<p>*\u5b89\u88c5<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=228448972&amp;content_type=Article&amp;match_order=1&amp;q=Betaflight+Configurator&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Betaflight Configurator<\/a>\u8c03\u53c2\u8f6f\u4ef6\uff0c\u8fd9\u662f\u4f7f\u7528Betaflight\u56fa\u4ef6\u98de\u63a7\u7684\u4e13\u7528\u53c2\u6570\u8bbe\u7f6e\u8f6f\u4ef6\uff0c\u6709\u65f6\u4e5f\u5c06\u5b83\u79f0\u4e3a\u5730\u9762\u7ad9\u8f6f\u4ef6\u3002<\/p>\n\n\n\n<p>*\u66f4\u65b0\u98de\u63a7BF\u56fa\u4ef6\uff0c\u4e0b\u8f7dBetaflight\u98de\u63a7\u56fa\u4ef6\uff0c\u7528Betaflight Configurator\u8c03\u53c2\u8f6f\u4ef6\u91cc\u7684\u56fa\u4ef6\u66f4\u65b0\u5de5\u5177\uff0c\u5bf9\u98de\u63a7\u4e0a\u7684\u5355\u7247\u673a\u8fdb\u884c\u56fa\u4ef6\u66f4\u65b0\uff0c\u5e76\u8bbe\u7f6e\u98de\u63a7\u7684\u57fa\u672c\u8f93\u5165\u8f93\u51faI\/O\u53c2\u6570\uff0cI\/O\u53c2\u6570\u53ef\u4ee5\u7528Configs\u547d\u4ee4\u884c\u8fdb\u884c\u6279\u91cf\u914d\u7f6e\uff0cConfigs\u6587\u672c\u8981\u5bf9\u5e94\u98de\u63a7\u7684\u54c1\u724c\u3001\u578b\u53f7\uff0c\u624d\u80fd\u6b63\u786e\u914d\u7f6e\u98de\u63a7\u8d44\u6e90\uff0cConfigs\u914d\u7f6e\u53ef\u4ee5\u5728\u5f00\u6e90\u793e\u533a\u67e5\u627e\u4e0b\u8f7d\u3002<\/p>\n\n\n\n<p>*\u7535\u8c03\u56fa\u4ef6\u53ef\u4ee5\u4e0d\u66f4\u65b0\uff0c\u56e0\u4e3aPWM\u7535\u8c03\u534f\u8bae\u65e0\u6cd5\u652f\u6301\u7535\u8c03\u53cc\u5411\u901a\u4fe1\uff0c\u65e0\u6cd5\u5f00\u542fRPM\u7535\u673a\u8f6c\u901f\u632f\u52a8\u6ee4\u6ce2\u529f\u80fd\u3002\u53ea\u8981\u7535\u8c03\u80fd\u6b63\u5e38\u5de5\u4f5c\uff0c\u5c31\u65e0\u9700\u53bb\u66f4\u65b0\u7535\u8c03\u56fa\u4ef6\u3002\u5982\u679c\u9700\u8981\u66f4\u65b0\u7535\u8c03\u56fa\u4ef6\uff0c\u66f4\u65b0\u65b9\u6cd5\u8bf7\u53c2\u8003\u300a\u7a7f\u8d8a\u673a\u6280\u672f\u57fa\u7840\u300bbbsgyd\u7248\u7cfb\u5217\u8d44\u6599\u4e2d\u5173\u4e8e\u7535\u8c03\u56fa\u4ef6\u4e0b\u8f7d\u4e0e\u66f4\u65b0\u7684\u7ae0\u8282\u5185\u5bb9\u3002<\/p>\n\n\n\n<p>*\u5b89\u88c5\u98de\u884c\u65e5\u5fd7\u64ad\u653e\u7684Betaflight Blackbox Explorer\u8f6f\u4ef6\uff0c\u7528\u4e8e\u64ad\u653e\u98de\u884c\u65e5\u5fd7\u6587\u4ef6\uff08\u632f\u52a8\u9891\u7387\u5206\u5e03\uff09\uff0c\u67e5\u770b\u9640\u87ba\u4eea\u91c7\u6837\u7684\u632f\u52a8\u9891\u7387\u56fe\u5f62\uff0c\u4f5c\u4e3a\u6ee4\u6ce2\u9891\u7387\u8bbe\u7f6e\u53c2\u8003\u4f9d\u636e\u3002\u767e\u5ea6\u5206\u4eab\u5730\u5740<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/pan.baidu.com\/s\/10dpN-PWbMIRV2EIV14238w\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/pan.baidu.com\/s\/10dpN-PWbMIRV2EIV14238w<\/a>\u63d0\u53d6bbbb\u3002<\/p>\n\n\n\n<p>*\u5b89\u88c5PIDtoolbox\u5206\u6790\u8f6f\u4ef6\uff08PID\u8dc3\u9636\u66f2\u7ebf\u3001\u632f\u52a8\u9891\u8c31\uff09\uff0c\u6b64\u8f6f\u4ef6\u7528\u4e8e\u5206\u6790PID\u8dc3\u9636\u66f2\u7ebf\u662f\u5426\u7b26\u5408\u8fd9\u53f0\u98de\u673a\u4f7f\u7528\uff0c\u8c03\u6574PID\u53c2\u6570\u6709\u4e86\u8fd9\u4e2a\u5de5\u5177\uff0c\u4e0d\u518d\u9700\u8981\u7e41\u6742\u7684\u76f2\u8bd5\uff0c\u8c03\u673a\u6548\u7387\u5927\u5927\u63d0\u5347\u3002\u4f7f\u7528\u8fd9\u4e2a\u8f6f\u4ef6\u9700\u8981\u5b89\u88c5\u4e00\u4e2a\u6570\u5b66\u8fd0\u7b97\u5de5\u5177\uff0c\u6ce8\u610f\u770b\u4e0b\u8f7d\u6587\u6863\u8bf4\u660e\u3002\u8bf7\u5148\u4e0b\u8f7d\u8fd0\u884c\u73af\u5883\u8f6f\u4ef6MATLAB Runtime\uff08V9.3A\u7248\u672c\u4e3a1.3GB\u5927\u5c0f\uff09\uff0c\u4e0b\u8f7d\u5730\u5740<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/ssd.mathworks.com\/supportfiles\/downloads\/R2017b\/deployment_files\/R2017b\/installers\/win64\/MCR_R2017b_win64_installer.exe\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/ssd.mathworks.com\/supportfiles\/downloads\/R2017b\/deployment_files\/R2017b\/installers\/win64\/MCR_R2017b_win64_installer.exe<\/a>\u4e0b\u8f7d\u9875\u9762\u5730\u5740\u4e3a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/ww2.mathworks.cn\/products\/compiler\/matlab-runtime.html\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/ww2.mathworks.cn\/products\/compiler\/matlab-runtime.html<\/a><\/p>\n\n\n\n<p>\u89c6\u9891\u6559\u7a0b<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/www.bilibili.com\/video\/BV1V7411G7qN\/%3Fspm_id_from%3D333.788.videocard.18\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/www.bilibili.com\/video\/BV1V7411G7qN\/?spm_id_from=333.788.videocard.18<\/a>\u8f6f\u4ef6\u4f7f\u7528\uff0c\u6765\u81eaEgnoPopy-fpv\u3002<\/p>\n\n\n\n<p>\u53c2\u8003\u8d44\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/bw1129\/PIDtoolbox\/wiki\/PIDtoolbox-user-guide\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/bw1129\/PIDtoolbox\/wiki\/PIDtoolbox-user-guide<\/a><\/p>\n\n\n\n<figure class=\"wp-block-embed\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/www.youtube.com\/watch?v=5oOSEeHLMLM&#038;t=959s\n<\/div><\/figure>\n\n\n\n<p>\u4e0b\u8f7d\u5b89\u88c5PIDtoolbox\uff0c<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/bw1129\/PIDtoolbox\/releases\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/bw1129\/PIDtoolbox\/releases<\/a>\u3002<\/p>\n\n\n\n<p>\u767e\u5ea6\u5206\u4eab\u5730\u5740<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/pan.baidu.com\/s\/1GEaEj_O5L32dE2acgUTH5w%3Fpwd%3Dxptj\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/pan.baidu.com\/s\/1GEaEj_O5L32dE2acgUTH5w?pwd=xptj<\/a>&nbsp;\u63d0\u53d6\u7801: xptj<\/p>\n\n\n\n<p>MATLAB Runtime\u4e5f\u5728\u8fd9\u4e2a\u94fe\u63a5\u91cc\u6709\uff0c\u4e0d\u7528\u53bb\u5916\u7f51\u4e0b\u3002<\/p>\n\n\n\n<p>*\u5b89\u88c5\u624b\u673a\u7248\u8c03\u53c2\u8f6f\u4ef6\uff08\u8bd5\u98de\u5feb\u901f\u8c03\u53c2\uff09betaflight-configurator_10.9.0.apk\u5b89\u5353\u7248\uff0c\u7528\u4e8e\u5916\u573a\u8bd5\u98de\u65f6\u8c03\u6574\u98de\u63a7\u7684\u53c2\u6570\uff0c\u529f\u80fd\u548cPC\u7248\u7684Betaflight Configurator\u8c03\u53c2\u8f6f\u4ef6\u4e00\u6837\u3002\u8981\u4f7f\u7528\u5b89\u5353\u7248\u624b\u673a\u8f6f\u4ef6\u8fde\u63a5\u98de\u63a7\u9700\u8981\u4e00\u6761OTG\u624b\u673a\u8f6c\u63a5\u7ebf\uff0c\u8bf7\u51c6\u5907\u597d\u3002<\/p>\n\n\n\n<p><strong>3\u3001\u98de\u63a7\u57fa\u672c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p>*\u8bbe\u7f6e\u9ed1\u5323\u5b50\uff08\u98de\u884c\u65e5\u5fd7\u8bb0\u5f55\u4eea\uff09\uff0c\u98de\u673a\u786c\u4ef6\u88c5\u597d\u540e\uff0c\u4f7f\u7528BF\u8c03\u53c2\u8f6f\u4ef6\u5bf9\u98de\u884c\u65e5\u5fd7\u8bb0\u5f55\u5668\u8fdb\u884c\u8bbe\u7f6e\uff0c\u5c06\u91c7\u6837\u8bbe\u4e3a500-1.5K,\u5e76\u64e6\u9664\u5b58\u50a8\u5668\uff08\u683c\u5f0f\u5316\u95ea\u5b58\uff09\u3002\u98de\u673a\u4e0a\u7535\u540e\u89e3\u9501\u7535\u673a\uff0c\u8bb0\u5f55\u5668\u5c31\u4f1a\u5c06\u9640\u87ba\u4eea\u91c7\u6837\u7684\u6570\u636e\u4fdd\u5b58\u5728\u95ea\u5b58\u82af\u7247\u91cc\uff0c\u98de\u5b8c\u4e0b\u6765\u901a\u8fc7USB\u6570\u636e\u7ebf\u8fde\u63a5\u98de\u63a7\uff0c\u53ef\u4ee5\u8bfb\u51fa\u8bb0\u5f55\u6587\u4ef6\u7528\u4e8e\u8c03\u53c2\u5206\u6790\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-acdc8346b9bd55c00c82f5a13524d900_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>*\u8bbe\u7f6e\u98de\u884c\u53c2\u6570\uff08\u57fa\u672c\u53c2\u6570\uff09\uff0c\u4f7f\u7528BF\u8c03\u53c2\u8f6f\u4ef6\u5bf9\u98de\u63a7\u7684\u57fa\u672c\u98de\u884c\u53c2\u6570\u8fdb\u884c\u8bbe\u7f6e\uff0c\u8fd9\u91cc\u4e3b\u8981\u662f\u4f9d\u7167\u673a\u67b6\u548c\u52a8\u529b\u914d\u7f6e\u9884\u7f6e\u4e00\u7ec4PID\uff0c\u8fd9\u91cc\u6211\u4eec\u8981\u8bbe\u7f6e\u51e0\u7ec4\u53c2\u6570\uff0c\u98de\u673a\u6a2a\u6eda\u8f74Roll PID\u4e3a46.0.40\u3001\u4fef\u4ef0\u8f74Pitch PID\u4e3a46.0.40\u3001\u822a\u8f74\u7684Yaw PID PID\u4e3a65.45.0\uff0c\u4e5f\u53ef\u4ee5\u5c06D Min\uff08\u6700\u5c0fD\u503c\uff09\u90fd\u8bbe\u4e3a30\u3002\u822a\u5411\u8f74YAW\u7684D Max\u548cD Min\u90fd\u4e3a0,\u4ee5\u540e\u7684\u6d4b\u8bd5\u53c2\u6570\u8bbe\u7f6e\u65f6YAW\u7684\u53c2\u6570\u90fd\u53ef\u4ee5\u4e0d\u7528\u6539\uff0c\u5982\u679c\u51fa\u73b0\u8f6c\u52a8\u65b9\u5411\u632f\u52a8\u73b0\u8c61\u53ef\u4ee5\u9002\u5f53\u51cf\u5c0fYAW\u7684P\u3001I\u503c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-802423894a7ef0dba33a4ab608384c40_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>*\u8bbe\u7f6e\u6ee4\u6ce2\u53c2\u6570\uff08\u57fa\u672c\u53c2\u6570\uff09, \u5728\u8bbe\u7f6e\u98de\u63a7\u65f6\uff0c\u6ee4\u6ce2\u53c2\u6570\u662f\u5fc5\u987b\u8981\u8bbe\u7f6e\u7684\u3002\u4f7f\u7528BF\u8c03\u53c2\u8f6f\u4ef6\uff0c\u5728\u6ee4\u6ce2\u5668\u8bbe\u7f6e\u9875\u9762\u4e2d\u5bf9\u98de\u63a7\u7684\u6ee4\u6ce2\u53c2\u6570\u8fdb\u884c\u8bbe\u7f6e\u3002\u6211\u4eec\u4f7f\u7528\u7684\u5b9e\u9a8c\u98de\u673a\u7684\u673a\u81c2\u6bd4\u8f83\u957f\uff0c\u6750\u8d28\u76f8\u5bf9\u67d4\u8f6f\uff0c\u98de\u884c\u4e2d\u7535\u673a\u548c\u87ba\u65cb\u6868\u65cb\u8f6c\u65f6\u4f1a\u5e26\u6765\u5f3a\u70c8\u7684\u4f4e\u9891\u632f\u52a8\uff0c\u65e0\u6cd5\u901a\u8fc7\u62d6\u52a8\u6ee4\u6ce2\u8bbe\u7f6e\u6ed1\u6761\u6765\u8bbe\u7f6e\u53c2\u6570\uff0c\u9700\u8981\u624b\u52a8\u8f93\u5165\u6ee4\u6ce2\u53c2\u6570\u3002\u6211\u4eec\u7ed9\u5b9e\u9a8c\u98de\u673a\u8bbe\u7f6e\u7684\u6ee4\u6ce2\u53c2\u6570\u5982\u4e0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-9e6172aac3c24a249c64e6276aaf365c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9640\u87ba\u4eea\u786c\u4ef6\u4f4e\u901a\u6ee4\u6ce2\u5668Gyro1\u4f7f\u7528DYNAMIC\u6a21\u5f0f\uff0c\u6700\u4f4e\u622a\u6b62\u9891\u7387\u8bbe\u7f6e\u4e3a100Hz\uff0c\u4e5f\u5c31\u662f\u9640\u87ba\u4eea\u786c\u4ef6\u91c7\u96c6\u59ff\u6001\u89d2\u5ea6\u503c\u65f6\uff0c\u5c06\u9ad8\u4e8e100Hz\u7684\u632f\u52a8\u566a\u58f0\u5ffd\u7565\uff0c\u539f\u59cb\u91c7\u6837\u7684\u632f\u52a8\u9891\u7387\u5e94\u5f53\u5c0f\u4e8e100Hz\u3002\u53c2\u6570\u8bbe\u7f6e\u592a\u4f4e\uff0c\u98de\u673a\u53ef\u80fd\u65e0\u6cd5\u6b63\u5e38\u8d77\u98de\uff0c\u8981\u8c28\u614e\u8bbe\u7f6e\u622a\u6b62\u53c2\u6570\u3002\u5982\u679c\u91c7\u75285\u5bf8\u673a\u67b6\uff0c\u673a\u67b6\u8bbe\u8ba1\u5f97\u5f88\u597d\u65f6\uff0c\u8fd9\u4e2a\u4f4e\u901a\u9891\u7387\u53ef\u4ee5\u8bbe\u7f6e\u5230120-150Hz\u3002\u867d\u7136\uff0c\u8fd9\u4e9b\u53c2\u6570\u90fd\u8003\u8651\u5230\u4e86\u4f4e\u9891\u632f\u52a8\u7684\u4ea7\u751f\u4e0e\u6ee4\u9664\uff0c\u4f46\u662f\uff0c\u6211\u4eec\u77e5\u9053\uff0c\u8fd9\u6837\u7684\u6ee4\u6ce2\u8bbe\u7f6e\u662f\u65e0\u6cd5\u6ee1\u8db3\u6ee4\u9664\u5f3a\u70c8\u4f4e\u9891\u632f\u52a8\u7684\uff0c\u540e\u7eed\u4e00\u5b9a\u4f1a\u7528\u5230\u9677\u6ce2\u5668\u538b\u5236\u67d0\u4e2a\u632f\u52a8\u9891\u5e26\u3002\u9677\u6ce2\u5668\u7684\u8bbe\u7f6e\u5728\u540e\u7eed\u8c03\u673a\u8fc7\u7a0b\u4e2d\u4f1a\u8fdb\u884c\u8bf4\u660e\u3002<\/p>\n\n\n\n<p>*\u8bbe\u7f6e<strong>Rate<\/strong>\u9875\u9762\u4e2d\u7684Rate\u767e\u5206\u6bd4\u6570\u503c\uff0c\u8ba9\u98de\u673a\u7684\u6700\u5927\u89d2\u901f\u5ea6\u7b49\u4e8e500\u5ea6\/\u79d2\u3002\u8fd9\u53c2\u6570\u5728\u8bd5\u98de\u65f6\u5f88\u91cd\u8981\uff0cPID\u5206\u6790\u8f6f\u4ef6\u80fd\u66f4\u51c6\u786e\u8ba1\u7b97\u51fa500\u5ea6\/\u79d2\u5185\u7684\u5404\u79cd\u6570\u636e\u3002<\/p>\n\n\n\n<p>*\u8bbe\u7f6e<strong>TPA<\/strong>\u503c\uff0c\u8bbe\u7f6eTPA\u76ee\u7684\u662f\u6cb9\u95e8\u8fbe\u5230\u8bbe\u5b9a\u503c\u540e\uff0c\u6309\u7167\u8bbe\u7f6e\u7684\u767e\u5206\u6bd4\u51cf\u5c0fPID\u589e\u76ca\u503c\uff0c\u9632\u6b62\u52a8\u529b\u8fc7\u5f3a\u4ea7\u751f\u632f\u8361\u3002\u5c06TPA\u8dc3\u9636\u8bbe\u4e3a0.1-0.5\uff08\u767e\u5206\u6bd4\uff09\uff0cTPA\u6cb9\u95e8\u8d77\u59cb\u70b9\u8bbe\u4e3a1350-1650\u3002\u98de\u673a\u8d77\u98de\u91cd\u91cf\u8f83\u9ad8\uff0c\u8fd9\u4e2a\u8d77\u59cb\u70b9\u53c2\u6570\u5c31\u8bbe\u7f6e\u9ad8\u4e00\u70b9\uff0c\u98de\u673a\u8f83\u8f7b\u7684\u5c31\u8bbe\u7f6e\u4f4e\u4e00\u70b9\uff0c\u5176\u5b83\u53c2\u6570\u53ef\u4ee5\u4e0d\u7528\u66f4\u6539\u3002<\/p>\n\n\n\n<p><strong>4.TPA\u7684\u4f5c\u7528\u673a\u5236\uff1a<\/strong>\u5f53\u98de\u884c\u64cd\u63a7\u7684\u6cb9\u95e8\u503c\u5927\u4e8eTPA\u8bbe\u5b9a\u503c\u65f6\uff0cPID\u4f5c\u7528\u5c06\u6309\u7167TPA\u9884\u8bbe\u6570\u503c\u6309\u7167\u767e\u5206\u6bd4\u524a\u51cf\uff1b\u5f53\u7535\u673a\u5728\u5c0f\u6cb9\u95e8\u65f6\u8f93\u51fa\u529b\u5ea6\u5c0f\uff0c\u4f7f\u7528\u4e00\u5957\u6807\u51c6PID\u63a7\u5236\uff0c\u98de\u673a\u59ff\u6001\u5e73\u7a33\uff1b\u5927\u6cb9\u95e8\u65f6\u7535\u673a\u8f93\u51fa\u529b\u5ea6\u8fc7\u5927\uff0c\u5bb9\u6613\u9020\u6210\u5f3a\u70c8\u632f\u8361\uff0c\u9700\u8981\u4e00\u5957\u51cf\u5f31\u7684PID\u63a7\u5236\u3002TPA\u8d77\u59cb\u70b9\u8bbe\u7f6e\u7684\u6cb9\u95e8\u503c\uff081650\uff09\u51b3\u5b9a\u662f\u5426\u524a\u51cfPID\u7684\u754c\u9650\uff0c\u524a\u51cf\u591a\u5c11\u7531TPA\u767e\u5206\u6bd4\u53c2\u6570\u51b3\u5b9a\uff0c\u5373TPA 0.1-0.6\u6570\u503c\uff0c\u5b83\u4eec\u8868\u793a\u524a\u51cf10%-60%\u7684PID\u503c\u3002\u7535\u673a\u52a8\u529b\u5f31\u7684TPA\u8bbe\u7f6e\u6570\u503c\u8d8a\u9ad8\uff0c\u7535\u673a\u52a8\u529b\u8d8a\u5f3a\u7684\u98de\u673a\uff08\u98de\u673a\u91cd\u91cf\u8d8a\u8f7b\uff09TPA\u6570\u503c\u8d8a\u5c0f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-3a4f6175de566ac40cd127422e5bbc9d_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u89d2\u901f\u5ea6\u548cTPA\u503c\u8bbe\u5b9a<\/figcaption><\/figure>\n\n\n\n<p>\u56e0\u4e3a\u6211\u4eec\u6240\u7528\u7684\u5b9e\u9a8c\u98de\u673a\u6bd4\u8f83\u91cd\uff0c\u8fd9\u5957\u52a8\u529b\u521a\u597d\u591f\u7528\uff0cTPA\u524a\u51cf\u4e0d\u80fd\u592a\u5927\uff0c\u8bbe\u7f6e\u4e3a0.2\u6bd4\u8f83\u5408\u9002\uff0cTPA\u8d77\u59cb\u70b9\u6cb9\u95e8\u503c\u8bbe\u7f6e\u4e3a1650\u6216\u8005\u66f4\u9ad8\u4e00\u4e9b\u90fd\u53ef\u4ee5\uff1b\u5e73\u65f6\u7ec4\u88c5\u98de\u673a\u8c03\u53c2\u65f6\uff0c\u5e38\u89c1\u7684\u82b1\u98de5\u5bf8\u98de\u673a\uff0c\u53ef\u4ee5\u5c06TPA\u53c2\u6570\u8bbe\u7f6e\u4e3a0.5\uff0850%\uff09\u4e0e1560\uff08\u6cb9\u95e8us\uff09\u3002<\/p>\n\n\n\n<p><strong>\u6cb9\u95e8\u503c1650\u7684\u7406\u89e3\uff1a<\/strong>\u8fd9\u662f\u4e00\u4e2a\u6cb9\u95e8\u4fe1\u53f7\u7684\u6709\u6548\u8109\u51b2\u503c\u3002\u6cb9\u95e8\u4fe1\u53f7\u7684\u8109\u51b2\u65f6\u95f4\u901a\u5e38\u4f1a\u4ecb\u4e8e1000-2000us\uff081ms-2ms\uff09\u4e4b\u95f4\uff0c\u8109\u51b21000us\u4e3a\u96f6\u6cb9\u95e8\uff0c\u8109\u51b2\u7ebf\u6027\u53d8\u5316\u52302000us\u7684100%\u6cb9\u95e8\uff0c1500\u662f\u4e2d\u95f4\u503c\u30021650\u5c31\u662f\u6bd4\u4e2d\u95f4\u503c\u5927\u4e00\u70b9\u7684\u4f4d\u7f6e\uff0c\u5f53\u6cb9\u95e8\u6746\u6253\u5230\u8fd9\u91cc\u65f6\uff0c\u542f\u7528\u524a\u51cf\u4e86\u4e00\u5b9a\u6bd4\u4f8b\u7684PID\u6765\u63a7\u5236\u8f93\u51fa\u3002<\/p>\n\n\n\n<p><strong>5\u3001\u8bd5\u98de\u83b7\u53d6\u5206\u6790\u6570\u636e<\/strong><\/p>\n\n\n\n<p>*\u8bd5\u98de\u4e0e\u8bb0\u5f55\u98de\u884c\u65e5\u5fd7\u6570\u636e\uff08\u5916\u573a\u8bd5\u98de\uff09\uff0c\u9009\u62e9\u7b26\u5408\u5b89\u5168\u89c4\u5219\u8981\u6c42\u7684\u8bd5\u98de\u573a\u5730\uff0c\u51c6\u5907\u597d\u98de\u673a\u540e\u89e3\u9501\u7535\u673a\u8d77\u98de\uff0c\u98de\u884c\u65f6\u95f4\u5927\u4e8e\u4e00\u5206\u949f\uff0c\u98de\u673a\u5728\u8bd5\u98de\u8fc7\u7a0b\u4e2d\u4e0d\u80fd\u89e6\u78b0\u5730\u9762\u6216\u8005\u6811\u6728\uff0c\u5c3d\u91cf\u76f8\u5bf9\u7f13\u6162\u6253\u6746\uff0c\u5728\u822a\u5411\u3001\u6cb9\u95e8\u3001\u6a2a\u6eda\u3001\u4fef\u4ef0\u6746\u91cf\u4e0a\u90fd\u6709\u51e0\u4e2a\u5927\u4e8e1\u79d2\u7684\u64cd\u4f5c\u6746\u91cf\uff0c\u8ba9\u98de\u673a\u80fd\u4fdd\u6301\u4e00\u4e2a\u8f83\u957f\u65f6\u95f4\u7684\u59ff\u6001\u89d2\u5ea6\u53d8\u5316\u72b6\u6001\u3002\u53ef\u4ee5\u5728\u81ea\u7a33\u6a21\u5f0f\u4e0b\u8bd5\u98de\uff0c\u4e5f\u53ef\u4ee5\u5728\u5168\u624b\u52a8\u6a21\u5f0f\u4e0b\u8bd5\u98de\uff0c\u5982\u679c\u4f60\u5bf9\u98de\u884c\u64cd\u63a7\u4e0d\u600e\u4e48\u719f\u7ec3\uff0c\u90a3\u5c31\u5728\u81ea\u7a33\u6a21\u5f0f\u4e0b\u8fdb\u884c\u3002\u98de\u884c\u7ed3\u675f\u540e\u53ca\u65f6\u964d\u843d\u9501\u95ed\u7535\u673a\uff0c\u62c6\u9664\u98de\u884c\u7535\u6c60\u3002<\/p>\n\n\n\n<p>*\u62f7\u8d1d\u98de\u884c\u65e5\u5fd7\u6570\u636e\uff08\u8c03\u53c2\u4f9d\u636e\uff09\u6587\u4ef6*.bbl\uff0c\u5c06\u98de\u63a7\u7528USB\u7ebf\u548c\u7535\u8111\u8fde\u63a5\u8d77\u6765\uff0c\u542f\u52a8BF\u8c03\u53c2\u8f6f\u4ef6\uff0c\u8fde\u63a5\u4e0a\u98de\u63a7\uff0c\u8fdb\u5165\u8c03\u53c2\u754c\u9762\u4e2d\u7684\u9ed1\u76d2\u5b50\u9875\u9762\uff0c\u70b9\u51fb\u4fdd\u5b58\u95ea\u5b58\u6570\u636e\u5230\u6587\u4ef6\uff0c\u5c06\u98de\u63a7\u4e2d\u7684\u98de\u884c\u65e5\u5fd7\u6587\u4ef6\u4fdd\u5b58\u5230\u7535\u8111\u4e2d\u3002\u5982\u679c\u4f60\u62c5\u5fc3\u627e\u4e0d\u5230\u5b83\u6216\u8005\u4e0d\u77e5\u9053\u662f\u54ea\u4e00\u6b21\u98de\u884c\u7684\u6570\u636e\uff0c\u53ef\u4ee5\u91cd\u65b0\u547d\u540d\u6587\u4ef6\u540d\u3002<\/p>\n\n\n\n<p><strong>\u7b2c\u56db\u8282 PID\u8dc3\u9636\u66f2\u7ebf\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>1.\u542f\u52a8PIDtoolbox\u8f6f\u4ef6\uff1a<\/strong>\u8ba1\u7b97PID\u63a7\u5236\u66f2\u7ebf\u56fe\uff0c\u5148\u5c06PID\u5927\u81f4\u8303\u56f4\u786e\u5b9a\u4e0b\u6765\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-b5299fd994abf476828b2e7dcad42958_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8fdb\u5165\u8f6f\u4ef6\u754c\u9762\u540e\u70b9\u51fb<strong>select<\/strong>\u6309\u94ae\uff0c\u9009\u53d6\u524d\u9762\u4fdd\u5b58\u7684\u98de\u884c\u65e5\u5fd7\u6587\u4ef6\uff0c\u5982*.BBL\u6216\u8005*.BFL\u6587\u4ef6\uff0c\u5f00\u59cb\u8fdb\u884c\u8ba1\u7b97\uff0c\u5b8c\u6210\u540e\u770b\u5230\u4e3b\u754c\u9762\u7684\u9640\u87ba\u4eea\u3001\u6cb9\u95e8\u5927\u5c0f\u65f6\u95f4\u7ebf\u91c7\u6837\u56fe\u3002\u52fe\u9009\u6700\u4e0a\u65b9\u7684\u9879\u76ee\u590d\u9009\u6846\uff0c\u5c31\u53ef\u4ee5\u770b\u5230\u5bf9\u5e94\u7684\u91c7\u6837\u6570\u636e\u8bb0\u5f55\u66f2\u7ebf\u3002<\/p>\n\n\n\n<p><strong>2.PID\u8dc3\u9636\u65f6\u95f4\u66f2\u7ebf\uff1a<\/strong>\u52a0\u8f7d\u5b8c\u6210\u65e5\u5fd7\u6587\u4ef6\u540e\uff0c\u70b9\u51fbStep Resp Tool\u8fdb\u5165PID\u66f2\u7ebf\u5206\u6790\u9875\u9762\uff0c\u70b9\u9009\u9700\u8981\u5206\u6790\u7684\u65e5\u5fd7\u6587\u4ef6\uff0c\u70b9\u51fbRUN\uff0c\u7b49\u5f85\u8fd0\u7b97\u5b8c\u6210\uff0c\u51fa\u73b0\u4e09\u4e2a\u8f74\u5411\u7684PID\u65f6\u95f4\u66f2\u7ebf\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-73cdbc64497e1877d5a2a67f4086e5a4_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>Roll\u6a2a\u6eda\u3001Pitch\u4fef\u4ef0\uff0c\u7684\u8dc3\u9636\u66f2\u7ebf\u4e00\u822c\u57280ms\u5f00\u59cb\u5c31\u5411\u7740\u76ee\u6807\u59ff\u60011\u8fdb\u53d1\uff0c\u572860ms\u5de6\u53f3\u8d8a\u8fc7\u76ee\u6807\u59ff\u60011\uff0c\u8d85\u8c03\u52301.25\u4ee5\u4e0a\uff0c\u8d85\u8c03\u8d8a\u5c11\u8d8a\u597d\u3002\u66f2\u7ebf\u56de\u8c03\u65f6\u95f4\u5927\u7ea620ms\uff0c\u572880ms\u65f6\u56de\u76ee\u6807\u8868\u59ff\u60011\u4ee5\u4e0b\uff0c\u5e76\u518d\u6b21\u54111\u8c03\u6574\uff0c100ms\u65f6\u57fa\u672c\u9501\u5b9a\u76ee\u6807\u59ff\u60011\u3002\u8d8a\u8fc71\u7528\u65f6\u8d8a\u77ed\u8d8a\u597d\uff0c\u7a33\u5b9a\u57281\u9644\u8fd1\u7528\u65f6\u8d8a\u77ed\u8d8a\u597d\uff0c\u56de\u8c03\u6b21\u6570\u8d8a\u5c11\u8d8a\u597d\u3002<\/p>\n\n\n\n<p>Yaw\u4e3a\u822a\u5411\uff0c\u4e00\u822c\u53ea\u8981\u8f6c\u5411\u65f6\u4e0d\u51fa\u73b0\u632f\u52a8\uff0c\u5c31\u4e0d\u8981\u53bb\u6539\u53d8\u53c2\u6570\uff0c\u56e0\u4e3a\u591a\u65cb\u7ffc\u7ed3\u6784\u98de\u673a\u7684\u8f6c\u5411\u529b\u91cf\u592a\u5c0f\uff0c\u53c2\u6570\u7684\u5927\u5c0f\u5bf9\u8f6c\u5411\u66f2\u7ebf\u7684\u6539\u53d8\u901a\u5e38\u4e0d\u5927\uff0c\u53c2\u6570\u9ad8\u4e86\u53ef\u80fd\u4f1a\u632f\u52a8\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u56fe\u7684PID\u8dc3\u9636\u66f2\u7ebf\u4e3a\u4f8b\uff0c\u53ef\u4ee5\u770b\u51fa\u8fd9\u53f0\u98de\u673a\u5230\u8fbe\u6700\u9ad8\u6b62\u70b9\u7528\u4e86100ms\u65f6\u95f4\uff0c\u8d85\u8c03\u5230\u4e862.0\uff0c\u8fd9\u663e\u5f97\u592a\u9ad8\u4e86\uff0c\u56de\u8c03\u5b8c\u6210\u65f6\u4e5f\u65e0\u6cd5\u5230\u8fbe\u76ee\u6807\u59ff\u60011\uff0c\u65e0\u6cd5\u9760\u8fd11\uff0c\u8fd9\u6837\u7684P\u503c\u663e\u5f97\u592a\u5927\u4e86\uff0c\u53ef\u4ee5\u5c06\u5b83\u8c03\u4f4e\u4e00\u4e9b\u3002\u4e5f\u53ef\u4ee5\u5c1d\u8bd5\u5355\u72ec\u5c06D\u503c\u52a0\u5927\u4e00\u4e9b\uff0c\u518d\u8fdb\u884c\u8bd5\u98de\u91c7\u96c6\u65e5\u5fd7\u6587\u4ef6\uff0c\u518d\u6b21\u5206\u6790PID\u8dc3\u9636\u65f6\u95f4\u66f2\u7ebf\u3002<\/p>\n\n\n\n<p><strong>3.\u5bf9\u6bd4\u524d\u540e\u4e24\u7ec4PID\uff1a<\/strong>\u5c06P\u3001D\u8bbe\u7f6e\u4e3a46\u548c40\uff0c\u901a\u8fc7\u518d\u6b21\u8bd5\u98de\u91c7\u96c6\uff0c\u53d6\u5f97\u65b0\u7684\u65e5\u5fd7\u6587\u4ef6\uff0c\u6309\u7167\u5148\u524d\u7684\u65b9\u6cd5\uff0c\u8bfb\u53d6\u65e5\u5fd7\u6587\u4ef6\uff0c\u5f97\u5230\u4e00\u4e2a\u65b0\u7684\u66f2\u7ebf\u56fe\uff08\u4e0b\u56fe2\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-f3988ffa14d184959ae6837b7a38a7f1_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe\u4e00<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-2b1456f7e166f77149f491111d557f20_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe\u4e8c<\/figcaption><\/figure>\n\n\n\n<p>\u7b2c\u4e00\u6b21\u8bd5\u98deR\/P\u8f74\u7684PID\u4e3a55.28.50\uff0c\u7b2c\u4e8c\u6b21\u8bd5\u98deR\/P\u8f74\u7684PID\u4e3a46.0.40\uff0c\u53ef\u4ee5\u770b\u5230\u524d\u4e00\u5f20\u56fe\u7684\u8dc3\u9636\u65f6\u95f4\u66f2\u7ebf\u5927\u5927\u9ad8\u4e8e1\uff0c\u7b2c\u4e8c\u5f20\u56fe\u7684\u66f2\u7ebf\u57fa\u672c\u80fd\u9760\u8fd11\uff0c\u53ef\u4ee5\u6bd4\u8f83\u51fa\u4e24\u7ec4PID\u53c2\u6570\u4e2d\uff0c\u7b2c\u4e8c\u6b21\u8bd5\u98de\u7684PID\u6570\u503c\u66f4\u9002\u5408\u8fd9\u53f0\u98de\u673a\u3002<\/p>\n\n\n\n<p>\u7b2c\u4e00\u5f20\u56fe\u4e2d\u7684\u66f2\u7ebf\u8f83\u4e3a\u5e73\u6ed1\uff0c\u7b2c\u4e8c\u5f20\u56fe\u4e2d\u7684\u66f2\u7ebf\u6709\u8bb8\u591a<strong>\u5c0f\u6ce2\u6d6a<\/strong>\uff0c\u56e0\u4e3a\u7b2c\u4e00\u5f20\u56fe\u4e2d\u52a0\u5165\u4e86I\u503c28\uff0c\u7b2c\u4e8c\u5f20\u56fe\u4e2d\u6ca1\u6709\u52a0\u5165I\u503c\uff0c\u5bf9\u6bd4\u6ce2\u5f62\u56fe\u5f88\u5bb9\u6613\u7406\u89e3I\u7684\u4f5c\u7528\u3002<\/p>\n\n\n\n<p>P\u3001D\u7684\u8c03\u8bd5\u5230\u8fd9\u91cc\u57fa\u672c\u5c31\u53ef\u4ee5\u786e\u5b9a\u4e00\u4e2a\u5927\u81f4\u7684\u8303\u56f4\u4e86\uff0cP\u572840-50\u4e4b\u95f4\uff0cD\u572835-50\u4e4b\u95f4\uff0c\u9700\u8981\u82b1\u4e9b\u65f6\u95f4\u6765\u505a\u7cbe\u7ec6\u8c03\u6574\uff0c\u901a\u8fc7\u591a\u6b21\u8bd5\u98de\u540e\u786e\u5b9a\u6700\u4f73P\u3001D\u503c\u3002<\/p>\n\n\n\n<p><strong>4.\u4e0d\u540c\u673a\u578bPID\u66f2\u7ebf\u5bf9\u6bd4\uff1a<\/strong>\u4ee5\u4e0b\u4e24\u4e2a\u56fe\u662fF450\u673a\u67b6\u548c5\u5bf8\u82b1\u98de\u673a\u67b6\u8dc3\u9636\u65f6\u95f4\u66f2\u7ebf\u5bf9\u6bd4\u3002\u901a\u5e385\u5bf8\u98de\u673a\u7684PID\u8bbe\u7f6e\u57fa\u672c\u7b26\u5408\u65f6\uff0c\u572830ms\u65f6\u5230\u8fbe\u6700\u9ad8\u70b9\uff0c\u572840ms\u65f6\u56de\u8c03\u5230\u76ee\u6807\u59ff\u60011\uff0c\u572860ms\u65f6\u518d\u6b21\u8d85\u8c03\uff0c80ms\u65f6\u57fa\u672c\u56de\u8c03\uff0c\u5b8c\u6210\u76ee\u6807\u59ff\u60011\u7684\u9501\u5b9a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-4b4a60daad7503141d874b1b6e05424e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e0a\u56fe\u4e3a5\u5bf8\u82b1\u98de\u673a\u578b\u7684\u8dc3\u9636\u65f6\u95f4\u66f2\u7ebf\u56fe\uff0c\u4e0b\u56fe\u4e3aF450\u673a\u578b\u7684\u8dc3\u9636\u65f6\u95f4\u66f2\u7ebf\u56fe\u3002\u56fe\u4e2d\u7684ROLL\u6a2a\u6eda\u8f74PID\u503c\u5df2\u7ecf\u4e3a\u6700\u4f73\u66f2\u7ebf\uff0c\u4f46Pitch\u4fef\u4ef0\u8f74\u7684\u66f2\u7ebf\u4e2d\uff0c\u8fd8\u662f\u9ad8\u4e8e\u76ee\u68071\uff0c\u8fd9\u91cc\u5e94\u5f53\u589e\u52a0Pitch\u8f74\u7684D\u503c\uff0c\u4f8b\u598230\uff0c\u518d\u6b21\u8bd5\u98de\u91c7\u96c6\u65e5\u5fd7\u6587\u4ef6\u505a\u5206\u6790\uff0c\u76f4\u5230PID\u66f2\u7ebf\u4e2d\u8c03\u6574\u5b8c\u540e\u8d34\u8fd1\u76ee\u68071\u4e3a\u6b62\u3002\u4e0b\u56fe\u4e3a\u5927\u8f74\u8ddd\u98de\u673a\u7684PID\u66f2\u7ebf\uff0c\u5b83\u53cd\u5e94\u65f6\u95f4\u8f83\u957f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-f3a7064f02292acb51975319153edf3f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>5\u5bf8\u548cF450\u98de\u673a\u8c03\u6574\u5230\u76ee\u6807\u59ff\u60011\u7684\u65f6\u95f4\u662f\u4e0d\u540c\u7684\u3002F450\u673a\u578b\u7531\u4e8e\u673a\u578b\u66f4\u5927\uff0c\u5230\u8fbe\u6700\u9ad8\u8d85\u8c03\u70b9\u7684\u65f6\u95f4\u66f4\u957f\uff0c\u56de\u8c03\u5e76\u9501\u5b9a\u76ee\u6807\u59ff\u60011\u6240\u9700\u65f6\u95f4\u4e5f\u66f4\u957f\u3002\u90a3\u4e48\u5728\u98de\u884c\u4e2d\uff0cF450\u7684\u98de\u884c\u64cd\u63a7\u52a8\u4f5c\u5e94\u5f53\u66f4\u6162\uff0c\u5b83\u65e0\u6cd5\u5b8c\u6210\u5feb\u901f\u59ff\u6001\u53d8\u5316\uff0c\u8fd9\u4e5f\u6bd4\u8f83\u7b26\u5408\u65b0\u624b\u7684\u64cd\u63a7\u80fd\u529b\u548c\u7ecf\u9a8c\u3002\u6240\u4ee5\uff0cF450\u7a7f\u8d8a\u673a\u66f4\u9002\u5408\u65b0\u624b\u76ee\u89c6\u8d77\u964d\u7ec3\u4e60\u548c\u76ee\u89c6\u82b1\u98de\u8868\u6f14\u3002<\/p>\n\n\n\n<p><strong>\u7b2c\u4e94\u8282 PID\u6ee4\u6ce2\u53c2\u6570\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>1.\u566a\u58f0\u529f\u7387\u8c31\u5206\u6790\uff1a<\/strong>\u4e0a\u4e00\u8282\u5185\u5bb9\u5b8c\u6210\u4e86PID\u63a7\u5236\u53c2\u6570\u7684\u8bbe\u7f6e\u548c\u8bd5\u98de\uff0c\u63a5\u4e0b\u6765\u5c31\u53ef\u4ee5\u8fdb\u884c\u6ee4\u6ce2\u53c2\u6570\u7684\u8bbe\u7f6e\uff0c\u5c06\u65e0\u7528\u7684\u632f\u52a8\u566a\u58f0\u8fdb\u884c\u538b\u5236\u6ee4\u9664\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-735c4b2de676b1cd6aa4713c38b3f393_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u65e5\u5fd7\u6587\u4ef6\u5206\u6790\u8f6f\u4ef6PIDtoolbox\u7684Select\u6309\u94ae\u52a0\u8f7d\u98de\u884c\u65e5\u5fd7\u540e\uff0c\u5728\u4e3b\u754c\u9762\u70b9\u51fbSpectral Aanalyzer\u6309\u94ae\u8fdb\u5165\u566a\u58f0\u5206\u6790\u754c\u9762\uff0c\u5728select files\u6587\u4ef6\u5217\u8868\u4e2d\u9009\u62e9\u9700\u8981\u5206\u6790\u7684\u65e5\u5fd7\uff0c\u5728\u4e0b\u9762\u7684\u7c7b\u578b\u5217\u8868\u4e2d\u9009\u62e9Gyro\u548cGyroprefilt\uff0c\u70b9\u51fbRun\u6309\u94ae\uff0c\u5f00\u59cb\u5bf9\u65e5\u5fd7\u6587\u4ef6\u8fdb\u884c\u566a\u58f0\u9891\u8c31\u8ba1\u7b97\u3002<\/p>\n\n\n\n<p>\u5728\u4e0a\u56fe\u4e2d\u770b\u5230\u6700\u5de6\u4fa7\u76840-30Hz\u566a\u58f0\u662f\u64cd\u63a7\u98de\u673a\u7528\u7684\u6709\u7528\u4fe1\u53f7\uff0c\u8fd9\u4e2a\u4e0d\u80fd\u6ee4\u9664\u3002\u5728100Hz\u5185\u6709\u4e00\u4e2a\u5206\u5e03\u572845-105Hz\u4e4b\u95f4\u7684\u5f3a\u70c8\u632f\u52a8\u566a\u58f0\uff0c\u8fd9\u662f\u9700\u8981\u8fdb\u884c\u538b\u5236\u6ee4\u9664\u7684\u3002\u632f\u52a8\u5bf9\u4e8e\u98de\u673a\u6765\u8bf4\uff0c\u5f71\u54cd\u975e\u5e38\u5927\uff0cF450\u673a\u67b6\u7684\u6750\u8d28\u548c\u673a\u68b0\u7ed3\u6784\uff0c\u6ce8\u5b9a\u4e86\u5b83\u5728\u98de\u884c\u65f6\u4f1a\u4ea7\u751f\u5f3a\u70c8\u7684\u4f4e\u9891\u632f\u52a8\uff0c\u8fd9\u57285\u5bf8\u98de\u673a\u4e0a\u662f\u5f88\u5c11\u9047\u5230\u7684\u3002\u901a\u5e3850Hz\u4ee5\u4e0a\u5982\u679c\u51fa\u73b0\u5927\u4e8e-20dB\u4ee5\u4e0a\u7684\u5f3a\u70c8\u566a\u58f0\u5e26\u90fd\u9700\u8981\u8fdb\u884c\u6ee4\u6ce2\u3002\u5c06100Hz\u4ee5\u5185\u7684\u5f3a\u70c8\u632f\u52a8\u566a\u58f0\u8fdb\u884c\u6ee4\u9664\u540e\uff0c\u5982\u679c\u540e\u9762\u8fd8\u6709\u66f4\u9ad8\u9891\u7387\u7684\u632f\u52a8\uff0c\u518d\u7528\u5176\u5b83\u6ee4\u6ce2\u5668\u8fdb\u884c\u538b\u5236\uff0c\u6709\u4e9b\u5982\u679c\u662f\u500d\u9891\u8c10\u632f\u566a\u58f0\uff0c\u5728\u6ee4\u9664\u4e3b\u566a\u58f0\u540e\u4e5f\u4f1a\u57fa\u672c\u6d88\u5931\u4e0d\u89c1\u3002<\/p>\n\n\n\n<p><strong>2.\u8bbe\u7f6e\u6ee4\u6ce2\u5668\u53c2\u6570\uff1a<\/strong>\u4f9d\u7167\u4e0a\u56fe\u5de6\u4fa7\u7684\u632f\u52a8\u566a\u58f0\u9891\u7387\u5206\u5e03\uff0c\u5bf9\u6ee4\u6ce2\u5668\u8fdb\u884c\u8bbe\u7f6e\uff0c\u538b\u5236\u8fd9\u4e2a\u6709\u5bb3\u7684\u632f\u52a8\u566a\u58f0\u3002\u8fdb\u5165BF\u8c03\u53c2\u8f6f\u4ef6\u6ee4\u6ce2\u5668\u7684\u8bbe\u7f6e\u9875\u9762\u4e2d\uff0c\u8fdb\u884c\u5982\u4e0b\u56fe\u7684\u8bbe\u7f6e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-a661c9f4aec72e1123b9d563d3c0e0f7_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9640\u87ba\u4eea\u786c\u4ef6\u6ee4\u6ce2\u5668\u8bbe\u7f6e\u4e3a100Hz\u4ee5\u4e0a\u6ee4\u9664\uff0c\u6ee4\u6ce2\u5668\u7c7b\u578b\u4f7f\u7528PT1\uff08\u4f4e\u659c\u7387\u6ee4\u6ce2\u5668\uff09\uff0c\u540c\u65f6\u5f00\u542f\u7b2c\u4e8c\u4e2a\u786c\u4ef6\u6ee4\u6ce2\u5668\uff0c\u8bbe\u7f6e\u622a\u6b62\u9891\u7387500Hz\uff0c\u540c\u6837\u4f7f\u7528PT1\u7c7b\u578b\uff0c\u5982\u679c100Hz\u4ee5\u540e\u6709\u5927\u91cf\u7684\u632f\u52a8\uff0c\u4e5f\u53ef\u4ee5\u4f7f\u7528BIQUAD\uff08\u9ad8\u659c\u7387\u6ee4\u6ce2\u5668\uff09\u3002<\/p>\n\n\n\n<p><strong>3.\u6ee4\u6ce2\u5668\u7c7b\u578b\uff1a<\/strong>\u6ee4\u6ce2\u5668\u7684\u659c\u7387\u662f\u4ec0\u4e48\u610f\u601d\uff1f<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-36a5609c1cb231c17d00495427022949_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u659c\u7387\u5c31\u662f\u4e24\u4fa7\u5411\u4e2d\u95f4\u8fc7\u6e21\u7684\u503e\u659c\u6bd4\u4f8b\uff0c\u4f8b\u5982\u540c\u4e00\u4e2a\u6ee4\u6ce2\u5668\u53c2\u6570\u503c\u4e0b\uff0c\u4e24\u79cd\u4e0d\u540c\u7c7b\u578b\u6ee4\u6ce2\u5668\u7684\u8fb9\u7f18\u538b\u5236\u529b\u5ea6\u662f\u4e0d\u4e00\u6837\u7684\uff0c\u8bf7\u770bBetaflight Blackbox Explorer\u64ad\u653e\u8f6f\u4ef6\u4e2d\u663e\u793a\u7684\u9640\u87ba\u4eea\u632f\u52a8\u566a\u58f0\u5206\u5e03\u56fe\u3002<\/p>\n\n\n\n<p>\u5982\u679c\u4f7f\u7528\u4e00\u4e2a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=228448972&amp;content_type=Article&amp;match_order=1&amp;q=PT1%E6%BB%A4%E6%B3%A2%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">PT1\u6ee4\u6ce2\u5668<\/a>\u6765\u538b\u523650-110Hz\u4e4b\u95f4\u7684\u632f\u52a8\u566a\u58f0\uff0c\u5982\u56fe\u6240\u793a\uff0cPT1\u6ee4\u6ce2\u5668\u5bf9\u8fb9\u7f18\u566a\u58f0\u7684\u538b\u5236\u529b\u5ea6\u5e76\u4e0d\u662f\u4e00\u5f00\u59cb\u5c31\u5f88\u5927\u7684\uff0c\u800c\u662f\u6709\u4e00\u4e2a\u660e\u663e\u7684\u8fc7\u6e21\u3002\u5728120-190Hz\u4e4b\u95f4\u7684\u632f\u52a8\u566a\u58f0\u5e26\u4e0a\u4f7f\u7528\u4e00\u4e2a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=228448972&amp;content_type=Article&amp;match_order=1&amp;q=BIQUAD%E6%BB%A4%E6%B3%A2%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BIQUAD\u6ee4\u6ce2\u5668<\/a>\uff0c\u8fb9\u7f18\u90e8\u5206\u4e00\u5f00\u59cb\u5c31\u88ab\u660e\u663e\u538b\u5236\uff0c\u566a\u58f0\u529f\u7387\u524a\u51cf\u5f88\u8fc5\u901f\uff0c\u566a\u58f0\u538b\u5236\u6548\u679c\u8981\u6bd4PT1\u597d\u5f88\u591a\u3002<\/p>\n\n\n\n<p>\u4e0b\u56fe\u4e3a\u6ee4\u6ce2\u8bbe\u7f6e\u540e\u7684\u566a\u58f0\u6ce2\u5f62\uff0c\u7b2c\u4e00\u4e2a\u6ee4\u6ce2\u5668\u7684\u4e2d\u5fc3\u9891\u7387\u548c\u5bbd\u5ea6\u90fd\u4e0d\u662f\u5f88\u591f\u7528\uff0c\u9700\u8981\u518d\u5c06\u5e26\u5bbd\u8bbe\u7f6e\u5f97\u66f4\u5bbd\u4e00\u4e9b\uff08\u53ef\u4fee\u6539\u4e3a\u4e2d\u5fc375Hz\uff0c\u6700\u4f4e40Hz\uff09\uff0c\u7b2c\u4e8c\u4e2a\u9677\u6ce2\u5668\u6548\u679c\u4e0d\u9519\uff0c\u4e5f\u5efa\u8bae\u5c06\u5bbd\u5ea6\u505a\u4e00\u4e9b\u4fee\u6539\uff0c\u5982\u6539\u6210\u4e2d\u5fc3\u9891\u7387155Hz\uff0c\u6700\u4f4e\u8bc4\u738750Hz\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-44483dab26f012b8bd10459acce50e24_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u90a3\u4e48\uff0c\u8fd9\u4e24\u4e2a\u660e\u663e\u566a\u58f0\u5c31\u4f1a\u88ab\u8fdb\u884c\u538b\u5236\u8fc7\u6ee4\u3002\u4e0d\u7528\u62c5\u5fc3\u4f1a\u6ee4\u6389\u6709\u7528\u7684\u4fe1\u53f7\uff0c\u6bd5\u7adf\u6ee4\u6ce2\u5668\u7684\u8fc7\u6ee4\u5f3a\u5ea6\u662f\u4ece\u8fb9\u7f18\u5411\u4e2d\u5fc3\u9010\u6e10\u53d8\u5316\u7684\uff0c\u9891\u5e26\u4e0d\u8bbe\u7f6e\u5bbd\u4e00\u4e9b\uff0c\u8fb9\u7f18\u566a\u58f0\u662f\u8fc7\u6ee4\u4e0d\u6389\u7684\u3002\u4e0a\u56fe\u4e2d\u4f7f\u7528PT1\u6ee4\u6ce2\u768450-110Hz\u632f\u52a8\u566a\u58f0\u6ca1\u6709\u88ab\u5b8c\u5168\u6ee4\u9664\uff0c\u53ef\u4ee5\u5c06\u622a\u6b62\u9891\u7387\u518d\u8bbe\u7f6e\u5f97\u4f4e\u4e00\u4e9b\uff0c\u598235Hz\uff0c\u4e89\u53d6\u80fd\u5c06\u8fd9\u4e2a\u4e25\u91cd\u7684\u632f\u52a8\u566a\u58f0\u90fd\u8fc7\u6ee4\u6389\u3002\u591a\u4e2a\u6ee4\u6ce2\u5668\u8bbe\u7f6e\u65f6\uff0c\u4f4d\u4e8e\u91cd\u590d\u6ee4\u6ce2\u533a\u57df\u7684\u566a\u58f0\u9891\u7387\u4f1a\u88ab\u53e0\u52a0\u8fc7\u6ee4\u3002<\/p>\n\n\n\n<p>\u5728\u9640\u87ba\u4eea\u786c\u4ef6\u6ee4\u6ce2\u5668\u4e2d\u4f7f\u7528BIQUAD\u7c7b\u578b\u6ee4\u6ce2\u5668\uff0c\u53ef\u80fd\u5bfc\u81f4\u4e25\u91cd\u7684\u5931\u63a7\uff0c\u8bf7\u8c28\u614e\u4f7f\u7528\u3002\u5728\u9677\u6ce2\u5668\u4e2d\u4f7f\u7528BIQUAD\u662f\u53ef\u884c\u7684\uff0c\u4f46\u5b83\u4f1a\u7ed9\u64cd\u63a7\u5e26\u6765\u8f83\u5927\u7684\u65f6\u5ef6\uff0c\u98de\u673a\u7684\u59ff\u6001\u52a8\u4f5c\u4f1a\u6709\u4e00\u5b9a\u7684\u6ede\u540e\u611f\uff0c\u64cd\u63a7\u4f53\u9a8c\u4e0d\u597d\u3002\u5982\u679c\u4e0d\u662f\u673a\u67b6\u592a\u677e\u57ae\uff0c\u5c3d\u91cf\u5c11\u7528\u6ee4\u6ce2\u5668\u3001\u9677\u6ce2\u5668\uff0c\u51cf\u5c11\u6ee4\u6ce2\u5e26\u6765\u7684\u65f6\u5ef6\u3002<\/p>\n\n\n\n<p><strong>4.BF\u9ed1\u5323\u5b50\u8f6f\u4ef6\u67e5\u770bPID\u53c2\u6570\u504f\u5dee\uff1a<\/strong>\u901a\u8fc7BF\u9ed1\u4e0b\u5b50\u67e5\u770b\u8f6f\u4ef6\uff0c\u4e5f\u53ef\u4ee5\u5206\u6790\u51faPID\u8bbe\u7f6e\u53c2\u6570\u662f\u5426\u66f4\u63a5\u8fd1\u7406\u60f3\u503c\uff0c\u4e0b\u9762\u662f\u5728PID\u53c2\u6570\u8c03\u8bd5\u8bbe\u7f6e\u65f6\uff0c\u98de\u673a\u98de\u884c\u65f6\u8bb0\u5f55\u7684\u65e5\u5fd7\uff0c\u53ef\u4ee5\u770b\u51fa\u5728\u98de\u673a\u76ee\u6807\u59ff\u6001\u8c03\u6574\u8fc7\u7a0b\u4e2d\uff0cPID\u503c\u504f\u5dee\u8f83\u5927\uff0c\u59ff\u6001\u8bb0\u5f55\u66f2\u7ebf\u4e0a\u7684\u5c0f\u6ce2\u7eb9\u5bc6\u96c6\uff0cPID\u504f\u5dee\u5c0f\u65f6\uff0c\u59ff\u6001\u8bb0\u5f55\u66f2\u7ebf\u4e0a\u5c0f\u6ce2\u7eb9\u7a00\u5c11\u3002<\/p>\n\n\n\n<p>\u4e0b\u9762\u7b2c\u4e00\u5f20\u56fe\u4e3a\u5c0f\u6ce2\u7eb9\u4e25\u91cd\u591a\u768410%\u6324\u538b\u6ce2\u5f62\u56fe\uff0c\u7b2c\u4e8c\u5f20\u56fe\u4e3a\u5c0f\u6ce2\u7eb9\u7a00\u5c11\u768410%\u6324\u538b\u6ce2\u5f62\u56fe\u3002<\/p>\n\n\n\n<figure 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