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reCamera 云台 PID 设置

什么是 PID？​

PID 代表比例-积分-微分控制（Proportional–Integral–Derivative control）。它是一种反馈机制，用于根据目标角度和速度精确控制电机运动。每个组件的作用如下：

  • P（比例）:

    决定电机对当前误差（目标值与实际值之间的差异）的反应强度。

  • I（积分）:

    通过累积过去的误差来消除残余的稳态误差。

  • D（微分）:

    根据误差变化率预测未来误差，用于抑制响应并减少超调。

    ⚠️ 警告：错误地修改 PID 设置可能导致电机过度负载或发热，从而可能损坏电机。请在调整 PID 值时谨慎操作。

使用 Node-RED 调整 PID​

默认的仪表板允许您通过文本输入框调整每个电机的 PID 参数。输入值后，点击“保存 PID 设置”以应用更改。

Yaw 轴：

  • 角度 PID

    kp = 50 ki = 0 kd = 0

  • 速度 PID

    kp = 260 ki = 20 kd = 0

Pitch 轴：

  • 角度 PID

    kp = 50 ki = 0 kd = 0

  • 速度 PID

    kp = 100 ki = 20 kd = 0

如果您删除或修改了流程并希望恢复，可以使用以下 JSON：

[{"id":"cc4fa65c792db7e2","type":"tab","label":"PID Control","disabled":false,"info":"","env":[]},{"id":"486ca54827378f08","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"eb68b89500627338","name":"Yaw angle kp","label":"Yaw angle kp","order":2,"width":0,"height":0,"topic":"yawAngleKp","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":150,"y":80,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"b4f5a7c749aaf50b","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"eb68b89500627338","name":"Yaw angle ki","label":"Yaw angle ki","order":3,"width":0,"height":0,"topic":"yawAngleKi","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":150,"y":120,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"9bbda02a3f464b9c","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"eb68b89500627338","name":"Yaw angle kd","label":"Yaw angle kd","order":4,"width":0,"height":0,"topic":"yawAngleKd","topicType":"str","mode":"text","tooltip":"Usually not needed","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":150,"y":160,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"238754ae8ef4fe4d","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"eb68b89500627338","name":"Yaw speed kp","label":"Yaw speed kp","order":6,"width":0,"height":0,"topic":"yawSpeedKp","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":280,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"4b84ecf3ba7ec5fe","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"eb68b89500627338","name":"Yaw speed ki","label":"Yaw speed ki","order":7,"width":0,"height":0,"topic":"yawSpeedKi","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":150,"y":320,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"887584e5c2a1a232","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"eb68b89500627338","name":"Yaw speed kd","label":"Yaw speed kd","order":8,"width":0,"height":0,"topic":"yawSpeedKd","topicType":"str","mode":"text","tooltip":"Usually not needed","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":360,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"372914c6ec32df4e","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"944f240637232c4b","name":"Pitch angle kp","label":"Pitch angle kp","order":2,"width":0,"height":0,"topic":"pitchAngleKp","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":460,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"6efa572a3dce8635","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"944f240637232c4b","name":"Pitch angle ki","label":"Pitch angle ki","order":3,"width":0,"height":0,"topic":"pitchAngleKi","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":500,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"ed858ab093332ace","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"944f240637232c4b","name":"Pitch angle kd","label":"Pitch angle kd","order":4,"width":0,"height":0,"topic":"pitchAngleKd","topicType":"str","mode":"text","tooltip":"Usually not needed","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":540,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"9ec2abda6b790f54","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"944f240637232c4b","name":"Pitch speed kp","label":"Pitch speed kp","order":6,"width":0,"height":0,"topic":"pitchSpeedKp","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":660,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"8e84cd5ae33d92e2","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"944f240637232c4b","name":"Pitch speed ki","label":"Pitch speed ki","order":7,"width":0,"height":0,"topic":"pitchSpeedKi","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":700,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"59d46006e8c6d39b","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"944f240637232c4b","name":"Pitch speed kd","label":"Pitch speed kd","order":8,"width":0,"height":0,"topic":"pitchSpeedKd","topicType":"str","mode":"text","tooltip":"Usually not needed","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":740,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"4d5a3b8e.4c1b3","type":"ui-button","z":"cc4fa65c792db7e2","group":"800d559a9f15602f","name":"Save PID Settings","label":"Save PID Settings","order":1,"width":3,"height":0,"emulateClick":false,"tooltip":"","color":"","bgcolor":"","className":"","icon":"","iconPosition":"left","payload":"","payloadType":"str","topic":"save_pid","topicType":"str","buttonColor":"","textColor":"","iconColor":"","enableClick":true,"enablePointerdown":false,"pointerdownPayload":"","pointerdownPayloadType":"str","enablePointerup":false,"pointerupPayload":"","pointerupPayloadType":"str","x":510,"y":420,"wires":[["e51b9162051b9a96"]]},{"id":"d1f3c8b3.9c3b9","type":"function","z":"cc4fa65c792db7e2","name":"Generate PID Config","func":"// 初始化 PID 参数对象（存储在 context 中，避免全局污染）\ncontext.global.pidParams = context.global.pidParams || {\n    yawAngle: { Kp: 50, Ki: 0, Kd: 0 },\n    yawSpeed: { Kp: 200, Ki: 20, Kd: 0 },\n    pitchAngle: { Kp: 50, Ki: 0, Kd: 0 },\n    pitchSpeed: { Kp: 100, Ki: 20, Kd: 0 }\n};\n\n// 提取 msg.topic 中的参数类型（例如 \"yawAngleKp\" -\u003E [\"yawAngle\", \"Kp\"]）\nconst topicParts = msg.topic.match(/(yaw|pitch)(Angle|Speed)(Kp|Ki|Kd)/i);\nif (topicParts) {\n    const [_, type, mode, param] = topicParts; // 解构匹配结果\n    const key = `${type.toLowerCase()}${mode}`; // 例如 \"yawAngle\"\n\n    // 动态更新对应的 PID 参数（如果输入为空，则设置为 '^'）\n    if (context.global.pidParams[key]) {\n        const value = msg.payload.trim(); // 去除前后空格\n        context.global.pidParams[key][param] = (value === \"\") ? \"^\" : parseFloat(value);\n    }\n}\n\n// 生成配置行（处理可能的 '^' 符号）\nconst { yawAngle, yawSpeed, pitchAngle, pitchSpeed } = context.global.pidParams;\n\n// 辅助函数：将值转换为字符串（如果是 '^' 则直接使用，否则转为数字）\nconst formatValue = (val) => (val === \"^\") ? \"^\" : val;\n\nconst yawAnglePIDLine = `1 0A ${formatValue(yawAngle.Kp)} ${formatValue(yawAngle.Ki)} ${formatValue(yawAngle.Kd)}`;\nconst yawSpeedPIDLine = `1 0B ${formatValue(yawSpeed.Kp)} ${formatValue(yawSpeed.Ki)} ${formatValue(yawSpeed.Kd)}`;\nconst pitchAnglePIDLine = `2 0A ${formatValue(pitchAngle.Kp)} ${formatValue(pitchAngle.Ki)} ${formatValue(pitchAngle.Kd)}`;\nconst pitchSpeedPIDLine = `2 0B ${formatValue(pitchSpeed.Kp)} ${formatValue(pitchSpeed.Ki)} ${formatValue(pitchSpeed.Kd)}`;\n\n// 合并为多行字符串\nmsg.payload = [\n    yawAnglePIDLine,\n    yawSpeedPIDLine,\n    pitchAnglePIDLine,\n    pitchSpeedPIDLine\n].join(\"\\n\");\n\nreturn msg;","outputs":1,"timeout":"","noerr":0,"initialize":"","finalize":"","libs":[],"x":500,"y":340,"wires":[[]]},{"id":"a1b2c3d4.5678e9","type":"file","z":"cc4fa65c792db7e2","name":"Save PID Config","filename":"/home/recamera/.gimbal_pid","filenameType":"str","appendNewline":true,"createDir":true,"overwriteFile":"true","encoding":"utf8","x":1080,"y":420,"wires":[[]]},{"id":"e51b9162051b9a96","type":"function","z":"cc4fa65c792db7e2","name":"Send PID Config","func":"// 生成配置行\nconst { yawAngle, yawSpeed, pitchAngle, pitchSpeed } = context.global.pidParams;\n// 生成四行配置\nconst yawAnglePIDLine = `1 0A ${yawAngle.Kp} ${yawAngle.Ki} ${yawAngle.Kd}`;\nconst yawSpeedPIDLine = `1 0B ${yawSpeed.Kp} ${yawSpeed.Ki} ${yawSpeed.Kd}`;\nconst pitchAnglePIDLine = `2 0A ${pitchAngle.Kp} ${pitchAngle.Ki} ${pitchAngle.Kd}`;\nconst pitchSpeedPIDLine = `2 0B ${pitchSpeed.Kp} ${pitchSpeed.Ki} ${pitchSpeed.Kd}`;\n\n// 合并为多行字符串\nmsg.payload = [\n    yawAnglePIDLine,\n    yawSpeedPIDLine,\n    pitchAnglePIDLine,\n    pitchSpeedPIDLine\n].join(\"\\n\"); // 用换行符连接\n\nreturn msg;","outputs":1,"timeout":0,"noerr":0,"initialize":"","finalize":"","libs":[],"x":830,"y":420,"wires":[["a1b2c3d4.5678e9"]]},{"id":"63a60476f1f25797","type":"ui-text","z":"cc4fa65c792db7e2","group":"eb68b89500627338","order":1,"width":0,"height":0,"name":"Yaw Angle Recommend PID","label":"Angle PID Recommended: Kp = 50; Ki = 0; Kd = 0","format":"{{msg.payload}}","layout":"row-spread","style":false,"font":"","fontSize":16,"color":"#717171","wrapText":false,"className":"","x":200,"y":40,"wires":[]},{"id":"6e6a453706f099be","type":"ui-text","z":"cc4fa65c792db7e2","group":"eb68b89500627338","order":5,"width":0,"height":0,"name":"Yaw Speed Recommend PID","label":"Speed PID Recommended: Kp = 260; Ki = 20; Kd = 0","format":"{{msg.payload}}","layout":"row-spread","style":false,"font":"","fontSize":16,"color":"#717171","wrapText":false,"className":"","x":200,"y":240,"wires":[]},{"id":"986642415d11c6f2","type":"ui-text","z":"cc4fa65c792db7e2","group":"944f240637232c4b","order":1,"width":0,"height":0,"name":"Pitch Angle Recommend PID","label":"Angle PID Recommended: Kp = 50; Ki = 0; Kd = 0","format":"{{msg.payload}}","layout":"row-spread","style":false,"font":"","fontSize":16,"color":"#717171","wrapText":false,"className":"","x":200,"y":420,"wires":[]},{"id":"1798f80fcc4b79b0","type":"ui-text","z":"cc4fa65c792db7e2","group":"944f240637232c4b","order":5,"width":0,"height":0,"name":"Pitch Speed Recommend PID","label":"Speed PID Recommended: Kp = 260; Ki = 20; Kd = 0","format":"{{msg.payload}}","layout":"row-spread","style":false,"font":"","fontSize":16,"color":"#717171","wrapText":false,"className":"","x":210,"y":620,"wires":[]},{"id":"eb68b89500627338","type":"ui-group","name":"Yaw Axis","page":"c315d27890fbd048","width":"6","height":"1","order":1,"showTitle":true,"className":"","visible":"true","disabled":"false","groupType":"default"},{"id":"944f240637232c4b","type":"ui-group","name":"Pitch Axis","page":"c315d27890fbd048","width":"6","height":"1","order":2,"showTitle":true,"className":"","visible":"true","disabled":"false","groupType":"default"},{"id":"800d559a9f15602f","type":"ui-group","name":"Send Config","page":"c315d27890fbd048","width":"12","height":"1","order":3,"showTitle":false,"className":"","visible":"true","disabled":"false","groupType":"default"},{"id":"c315d27890fbd048","type":"ui-page","name":"PID Control","ui":"e2f7615831d73e4b","path":"/pid_control","icon":"fa-sliders","layout":"grid","theme":"f5ee49967f8103a8","breakpoints":[{"name":"Default","px":"0","cols":"3"},{"name":"Tablet","px":"576","cols":"6"},{"name":"Small Desktop","px":"768","cols":"9"},{"name":"Desktop","px":"1024","cols":"12"}],"order":2,"className":"","visible":"true","disabled":"false"},{"id":"e2f7615831d73e4b","type":"ui-base","name":"My Dashboard","path":"/dashboard","appIcon":"","includeClientData":true,"acceptsClientConfig":["ui-notification","ui-control"],"showPathInSidebar":false,"navigationStyle":"default","titleBarStyle":"default","showReconnectNotification":true,"notificationDisplayTime":1,"showDisconnectNotification":true},{"id":"f5ee49967f8103a8","type":"ui-theme","name":"Default Theme","colors":{"surface":"#ffffff","primary":"#0094ce","bgPage":"#eeeeee","groupBg":"#ffffff","groupOutline":"#cccccc"},"sizes":{"density":"default","pagePadding":"12px","groupGap":"12px","groupBorderRadius":"4px","widgetGap":"12px"}}]

何时调整 PID​

如果云台的 3D 打印部件出现摩擦增加的情况，电机可能无法按预期运行。在这种情况下，可以通过以下方法提高电机性能：

  • 增加速度 PID 部分的 P 和 I 值，以施加更强的校正。

  • 通常情况下，D 值保持为 0，除非需要处理超调或振荡问题，否则无需调整。

命令行：通过终端调整 PID​

除了使用仪表板界面外，还可以通过终端命令调整或获取 PID 设置。

获取当前 PID 设置​

要检查特定电机和控制模式的当前 PID 值，请使用以下命令：

gimbal pid <id> <a|s>

<id>: 电机 ID

1 = 偏航轴

2 = 俯仰轴

<a|s>: 控制类型

a = 角度 PID

s = 速度 PID

示例：

gimbal pid 1 a

此命令将检索偏航轴的角度 PID 设置。

设置 PID 值​

要更新 PID 参数，请使用：

gimbal pid <id> <a|s> <Kp> [Ki] [Kd]

<Kp> 是必需的。[Ki] 和 [Kd] 是可选的。

如果希望保留当前的 Ki 或 Kd 值，请使用 ^ 作为占位符。

每个参数的范围：0–2000

示例：

gimbal pid 1 a 100 0 0

将偏航轴角度 PID 设置为：Kp = 100, Ki = 0, Kd = 0

gimbal pid 2 s 100 ^ ^

将俯仰轴速度 PID 设置为：Kp = 100，同时保持现有的 Ki 和 Kd 值不变。

参数文件路径​

PID 设置存储在以下路径：

/home/recamera/.gimbal_pid

通过终端更新 PID 值时请谨慎。错误的设置可能导致不稳定或潜在的硬件损坏。

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