一直想搞一下四轴飞行器，不过总是么有时间，前段时间在家休息，好好研究一下四轴飞行器的PID算法。现在凑个热闹，分享传说中的串级PID，内环为角速度环，外环为角速度。整定PID参数的时候先调外环，再调内环。
不多说，先上文件：
想直接看的可以看看这个代码，都是一样的
- #include "CONTROL.h"
- #include "IMU1.h"
- #include "moto.h"
- #include "RFdate.h"
- #include
- extern T_RC_Data Rc_D; //遥控通道数据;
- extern u8 txbuf[4]; //发送缓冲
- extern u8 rxbuf[4]; //接收缓冲
- extern u16 test1[3]; //接收到NRf24L01数据
- extern S_INT16_XYZ ACC_F,GYRO_F;
- PID PID_ROL,PID_PIT,PID_YAW;
- extern S_INT16_XYZ MPU6050_ACC_LAST,MPU6050_GYRO_LAST;
- int Motor_Ele=0; //俯仰期望
- int Motor_Ail=0; //横滚期望
- //u8 ARMED = 0;
- //float rol_i=0,pit_i=0,yaw_p=0;
- float thr=0;
- S_FLOAT_XYZ EXP_ANGLE ,DIF_ANGLE;
- PID1 PID_Motor;
- /*********************************/
- float Pitch_i,Roll_i,Yaw_i; //积分项
- float Pitch_old,Roll_old,Yaw_old; //角度保存
- float Pitch_d,Roll_d,Yaw_d; //微分项
- float RC_Pitch,RC_Roll,RC_Yaw; //姿态角
- float Pitch_shell_out,Roll_shell_out,Yaw_shell_out;//外环总输出
- //外环PID参数
- float Pitch_shell_kp=280;//30 140
- float Pitch_shell_kd=0;//
- float Pitch_shell_ki=0;//
- /*********************************/
- float Roll_shell_kp=250;//30
- float Roll_shell_kd=0;//10
- float Roll_shell_ki=0;//0.08
- /*********************************/
- float Yaw_shell_kp=1.5;//10;//30
- float Yaw_shell_kd=0;//10
- float Yaw_shell_ki=0;//0.08;//0.08
- float Gyro_radian_old_x,Gyro_radian_old_y,Gyro_radian_old_z;//陀螺仪保存
- float pitch_core_kp_out,pitch_core_kd_out,Roll_core_kp_out,Roll_core_kd_out,Yaw_core_kp_out,Yaw_core_kd_out;//内环单项输出
- float Pitch_core_out,Roll_core_out,Yaw_core_out;//内环总输出
-
- //内环PID参数
- //float Pitch_core_kp=0.040;
- //float Pitch_core_kd=0.008;////0.007;//0.07;
- float Pitch_core_kp=0.040;
- float Pitch_core_kd=0.002;////0.007;//0.07;
- float Roll_core_kp=0.040;//;
- float Roll_core_kd=0.002;////0.007;//06;//0.07;
- float Yaw_core_kp=0.046;//;
- float Yaw_core_kd=0.012;////0.007;//06;//0.07;
- int16_t moto1=0,moto2=0,moto3=0,moto4=0;
- float tempjd=0;
- void CONTROL(float rol, float pit, float yaw)
- {
-
- RC_Pitch=(Rc_D.PITCH-1500)/20;
-
- ////////////////////////外环角度环(PID)///////////////////////////////
- Pitch_i+=(Q_ANGLE.Pitch-RC_Pitch);
- //-------------Pitch积分限幅----------------//
- if(Pitch_i>300) Pitch_i=300;
- else if(Pitch_i<-300) Pitch_i=-300;
- //-------------Pitch微分--------------------//
- Pitch_d=Q_ANGLE.Pitch-Pitch_old;
- //-------------Pitch PID-------------------//
- Pitch_shell_out = Pitch_shell_kp*(Q_ANGLE.Pitch-RC_Pitch) + Pitch_shell_ki*Pitch_i + Pitch_shell_kd*Pitch_d;
- //角度保存
- Pitch_old=Q_ANGLE.Pitch;
- /*********************************************************/
-
- RC_Roll=(Rc_D.ROLL-1500)/20;
- Roll_i+=(Q_ANGLE.Rool-RC_Roll);
- //-------------Roll积分限幅----------------//
- if(Roll_i>300) Roll_i=300;
- else if(Roll_i<-300) Roll_i=-300;
- //-------------Roll微分--------------------//
- Roll_d=Q_ANGLE.Rool-Roll_old;
- //-------------Roll PID-------------------//
- Roll_shell_out = Roll_shell_kp*(Q_ANGLE.Rool-RC_Roll) + Roll_shell_ki*Roll_i + Roll_shell_kd*Roll_d;
- //------------Roll角度保存------------------//
- Roll_old=Q_ANGLE.Rool;
-
-
- RC_Yaw=(Rc_D.YAW-1500)*10;
- //-------------Yaw微分--------------------//
- Yaw_d=MPU6050_GYRO_LAST.Z-Yaw_old;
- //-------------Roll PID-------------------//
- Yaw_shell_out = Yaw_shell_kp*(MPU6050_GYRO_LAST.Z-RC_Yaw) + Yaw_shell_ki*Yaw_i + Yaw_shell_kd*Yaw_d;
- //------------Roll角度保存------------------//
- Yaw_old=MPU6050_GYRO_LAST.Z;
-
-
- ////////////////////////内环角速度环(PD)///////////////////////////////
- pitch_core_kp_out = Pitch_core_kp * (Pitch_shell_out + MPU6050_GYRO_LAST.Y * 3.5);
- pitch_core_kd_out = Pitch_core_kd * (MPU6050_GYRO_LAST.Y - Gyro_radian_old_y);
- Roll_core_kp_out = Roll_core_kp * (Roll_shell_out + MPU6050_GYRO_LAST.X *3.5);
- Roll_core_kd_out = Roll_core_kd * (MPU6050_GYRO_LAST.X - Gyro_radian_old_x);
- Yaw_core_kp_out = Yaw_core_kp * (Yaw_shell_out + MPU6050_GYRO_LAST.Z * 1);
- Yaw_core_kd_out = Yaw_core_kd * (MPU6050_GYRO_LAST.Z - Gyro_radian_old_z);
-
-
- Pitch_core_out = pitch_core_kp_out + pitch_core_kd_out;
- Roll_core_out = Roll_core_kp_out + Roll_core_kd_out;
- Yaw_core_out = Yaw_core_kp_out + Yaw_core_kd_out;
- Gyro_radian_old_y = MPU6050_GYRO_LAST.X;
- Gyro_radian_old_x = MPU6050_GYRO_LAST.Y;
- Gyro_radian_old_z = MPU6050_GYRO_LAST.Z; //储存历史值
-
- //--------------------将输出值融合到四个电机--------------------------------//
-
- if(Rc_D.THROTTLE>1020)
- {
- thr=Rc_D.THROTTLE- 1000;
- // if(Rc_D.THROTTLE<=2000)
- // {
- // moto1=(int16_t)(thr - Pitch_core_out);//- yaw);
- // moto2=(int16_t)(thr - Pitch_core_out);//+ yaw);
- // moto3=(int16_t)(thr + Pitch_core_out);// - yaw);
- // moto4=(int16_t)(thr + Pitch_core_out);//+ yaw);
-
- // moto1=(int16_t)(thr - Roll_core_out);//- yaw);
- // moto2=(int16_t)(thr + Roll_core_out);//+ yaw);
- // moto3=(int16_t)(thr + Roll_core_out);// - yaw);
- // moto4=(int16_t)(thr - Roll_core_out);//+ yaw);
- // moto1=(int16_t)(thr - Yaw_core_out);//- yaw);
- // moto2=(int16_t)(thr + Yaw_core_out);//+ yaw);
- // moto3=(int16_t)(thr - Yaw_core_out);// - yaw);
- // moto4=(int16_t)(thr + Yaw_core_out);//+ yaw);
-
- //moto1=(int16_t)(thr - Roll_core_out - Pitch_core_out);
- //moto2=(int16_t)(thr + Roll_core_out - Pitch_core_out);
- //moto3=(int16_t)(thr + Roll_core_out + Pitch_core_out);
- //moto4=(int16_t)(thr - Roll_core_out + Pitch_core_out);
- //
- moto1=(int16_t)(thr - Roll_core_out - Pitch_core_out- Yaw_core_out);
- moto2=(int16_t)(thr + Roll_core_out - Pitch_core_out+ Yaw_core_out);
- moto3=(int16_t)(thr + Roll_core_out + Pitch_core_out- Yaw_core_out);
- moto4=(int16_t)(thr - Roll_core_out + Pitch_core_out+ Yaw_core_out);
-
- // }
- }
- else
- {
- moto1 = 0;
- moto2 = 0;
- moto3 = 0;
- moto4 = 0;
- }
- MOTO_PWMRFLASH(moto1,moto2,moto3,moto4);// Moto_PwmRflash(moto1,moto2,moto3,moto4);
- }
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非常不错非常不错非常不错非常不错非常不错非常不错非常不错非常不错非常不错非常不错
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串级PID算法 
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非常不错非常不错非常不错非常不错非常不错非常不错，好东西，108个赞
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 谢谢分享
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高手，，， 
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楼主请教个问题，在内环PID里，陀螺仪三个方向的量分别乘以3.5、3.5、1是什么意思，可以解释下吗？
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chuanPID.zip
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