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'墠绔」鐩殑鐩綍骞舵瀯寤?cd' 不是内部或外部命令,也不是可运行的程序 或批处理文件。 'm' 不是内部或外部命令,也不是可运行的程序 或批处理文件。 'DotNetService\DotNetService' 不是内部或外部命令,也不是可运行的程序 或批处理文件。 '綘鐨?.NET' 不是内部或外部命令,也不是可运行的程序 或批处理文件。 'dotnet' 不是内部或外部命令,也不是可运行的程序 或批处理文件。

时间: 2025-04-30 18:13:01 浏览: 56
<think>好的,现在我要解决用户在CMD中运行.bat文件时遇到的命令未找到的问题,具体提示是'cd'、'dotnet'等不是内部或外部命令。首先,我需要分析可能的原因,然后逐步给出解决方案。 首先,用户提到在运行.bat文件时出现这些错误。可能的原因有几个: 1. **环境变量未正确配置**:'cd'虽然是CMD的内置命令,但如果.bat文件中有语法错误,可能会导致后续命令无法识别。而'dotnet'命令未找到通常是因为.NET SDK未安装或未添加到系统环境变量中。 2. **路径问题**:在.bat文件中使用的路径可能不正确,或者包含空格或特殊字符,导致CMD无法识别。 3. **文件编码问题**:.bat文件的编码格式不正确,比如使用了UTF-8带BOM,而CMD默认使用ANSI编码,可能导致命令解析错误。 4. **权限问题**:用户可能没有足够的权限执行某些命令,尤其是在需要管理员权限的情况下。 接下来,我需要逐一排查这些可能性,并给出对应的解决方法。首先检查环境变量,特别是PATH是否包含必要的路径,比如.NET SDK的安装路径。然后检查.bat文件中的语法是否正确,路径是否用引号包裹,以及文件编码是否合适。此外,确认用户是否以管理员身份运行CMD,尤其是当操作需要权限时。 可能还需要用户验证是否安装了.NET SDK,如果没有安装,需要引导他们去官网下载安装。同时,对于'dotnet'命令的问题,可能需要手动添加路径到环境变量,或者重启CMD使环境变量生效。 另外,用户之前的问题是关于npm证书错误和运行.bat文件,现在的引用中提到了sh指令和dotnet run的问题,虽然引用可能不直接相关,但需要确保当前问题与之前的解决方案没有冲突,比如环境变量被错误修改导致的问题。 最后,总结步骤,确保用户能逐步操作,并给出验证方法,比如运行echo %PATH%检查路径,或者执行dotnet --version验证安装。同时,提醒用户注意.bat文件中的语法,比如每行命令的正确性,避免拼写错误。</think>### 分步解决方案 --- #### **一、排查命令无法识别的根本原因** 当CMD提示“不是内部或外部命令”时,通常由以下原因导致: 1. **命令本身不存在或未安装**(如`dotnet`未安装)[^2]; 2. **环境变量未配置**(路径未添加到系统`PATH`中); 3. **路径包含空格或特殊符号**(未用引号包裹); 4. **文件编码或语法错误**(如.bat文件以UTF-8保存导致CMD解析失败)。 --- #### **二、解决`cd`命令报错** ##### **1. 检查.bat文件语法** `cd`是CMD内置命令,报错通常由以下原因导致: - **路径格式错误**:路径包含空格时未用引号包裹。 **错误示例**: ```bat cd C:\Program Files\MyApp # 路径含空格未加引号 ``` **修正方法**: ```bat cd "C:\Program Files\MyApp" ``` - **路径不存在**:检查路径是否输入正确(区分大小写)。 ##### **2. 验证路径是否存在** 在CMD中手动执行以下命令: ```cmd dir "C:\your\path" # 替换为实际路径 ``` 若提示“找不到文件”,需修正路径。 --- #### **三、解决`dotnet`命令报错** ##### **1. 确认.NET SDK是否安装** `dotnet`命令依赖.NET SDK环境。 **验证方法**: ```cmd dotnet --version ``` 若提示“找不到命令”,需安装.NET SDK: 1. 访问[.NET官网](https://dotnet.microsoft.com/download)下载对应版本; 2. 安装时勾选“Add to PATH”选项[^2]。 ##### **2. 手动配置环境变量** 若已安装但未自动配置环境变量,需手动添加: 1. 右键“此电脑” → 属性 → 高级系统设置 → 环境变量; 2. 在`系统变量`中找到`Path` → 编辑 → 新增以下路径(根据安装位置调整): ``` C:\Program Files\dotnet\ ``` 3. 重启CMD使配置生效。 ##### **3. 检查安装路径** 若安装路径自定义过,需确保路径正确: ```cmd where dotnet # 查看`dotnet`命令的实际路径 ``` --- #### **四、处理.bat文件编码与语法问题** ##### **1. 修正文件编码** CMD默认使用ANSI编码,若.bat文件保存为UTF-8(带BOM),可能导致命令解析失败。 **解决方法**: 1. 用记事本打开.bat文件 → 另存为 → 编码选择`ANSI`; 2. 重新运行文件。 ##### **2. 检查特殊符号** 避免使用`&`、`|`等未转义的特殊符号。 **示例**: ```bat echo "Hello & World" # 错误:`&`需转义为`^&` echo "Hello ^& World" # 正确 ``` --- #### **五、以管理员权限运行** 若操作涉及系统目录或注册表,需以管理员身份运行CMD: 1. 右键CMD图标 → 以管理员身份运行; 2. 重新执行.bat文件。 --- #### **六、验证修复效果** 1. **测试`dotnet`命令**: ```cmd dotnet --list-sdks # 查看已安装的.NET SDK版本 ``` 若显示版本号,则环境配置成功[^2]。 2. **逐行执行.bat文件**: 在CMD中手动输入.bat文件中的每行命令,定位具体报错行。 --- ### 总结流程图 ```plaintext 命令报错 → 检查命令是否存在 → 安装对应工具(如.NET SDK) │ ├→ 检查环境变量 → 手动添加路径 → 重启CMD │ ├→ 修正路径格式(引号包裹空格) │ └→ 检查文件编码(ANSI格式) ``` --- ### 相关问题 1. **如何永久添加环境变量避免重复配置?** - 通过系统属性 → 环境变量 → 编辑`Path`,添加工具安装目录(如`C:\Program Files\dotnet`)。 2. **.bat文件中如何避免因权限不足导致的失败?** - 在.bat文件开头添加请求管理员权限的代码: ```bat @echo off :: 请求管理员权限 fltmc >nul 2>&1 || ( echo 正在请求管理员权限... powershell -Command "Start-Process cmd -ArgumentList '/c %~dpnx0' -Verb RunAs" exit /b ) ``` 3. **为什么手动执行命令成功,但.bat文件运行失败?** - 可能是.bat文件中的相对路径未正确指向资源,需改用绝对路径或`%~dp0`(表示脚本所在目录)[^2]。
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Kp=1.5, Ki=0.006, Kd=20 璁惧畾鐐?0, 绉垎涓婇檺=300, 姝诲尯=30 鑸垫満鎺у埗鍒濆鍖? 姘村钩鑼冨洿=(100, 900), 鍨傜洿鑼冨洿=(200, 800) 婵€鍏夊亸绉婚噺: X=0, Y=0 鍥惧儚涓績: X=320, Y=240 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(332,394), 杞撮暱(94.31,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(334,397), 杞撮暱(0.00,68.14), 瑙掑害=71.76掳, 鍦嗗害=1.0000 妞渾 3: 涓績(335,397), 杞撮暱(0.00,45.26), 瑙掑害=47.54掳, 鍦嗗害=1.0000 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(334,397), 杞撮暱(0.00,92.47), 瑙掑害=97.26掳, 鍦嗗害=1.0000 妞渾 2: 涓績(335,397), 杞撮暱(0.00,68.11), 瑙掑害=71.75掳, 鍦嗗害=1.0000 妞渾 3: 涓績(335,397), 杞撮暱(46.41,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(335,397), 杞撮暱(23.93,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(59,409), 杞撮暱(21.20,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=8, 骞冲潎鍊?(299.88,398.12), 鏍囧噯宸?(91.05,4.23) 鍦嗗績鍋忓樊: dx=14, dy=156 褰撳墠鑸垫満浣嶇疆: H=500, V=500 [PID璁$畻] 娴嬮噺鍊?14.00, 璇樊=14.00 姝诲尯鐢熸晥: |14.00| < 30, 璇樊褰掗浂 姣斾緥椤? Kp*error = 1.5*0.00 = 0.00 绉垎椤? Ki*integral = 0.003*0.00 = 0.00 寰垎椤? Kd*derivative = 0.07*0.00 = 0.00 PID杈撳嚭: u = 0.00 [PID璁$畻] 娴嬮噺鍊?156.00, 璇樊=156.00 姣斾緥椤? Kp*error = 1.5*156.00 = 234.00 绉垎椤? Ki*integral = 0.006*156.00 = 0.94 寰垎椤? Kd*derivative = 20*31.20 = 624.00 PID杈撳嚭: u = 858.94 璁$畻鏂颁綅缃? H=500.00, V=792.12 [鑸垫満璁剧疆] 鍘熷鐩爣: H=500.00, V=792.12 浣嶇疆闄愬埗鐢熸晥: H=500, V=792 璁剧疆鑸垫満浣嶇疆: H=500, V=792, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(332,397), 杞撮暱(0.00,91.07), 瑙掑害=97.31掳, 鍦嗗害=1.0000 妞渾 2: 涓績(334,397), 杞撮暱(0.00,68.09), 瑙掑害=71.77掳, 鍦嗗害=1.0000 妞渾 3: 涓績(335,396), 杞撮暱(46.42,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 褰撳墠鑸垫満浣嶇疆: H=500, V=792 [PID璁$畻] 娴嬮噺鍊?14.00, 璇樊=14.00 姝诲尯鐢熸晥: |14.00| < 30, 璇樊褰掗浂 姣斾緥椤? Kp*error = 1.5*0.00 = 0.00 绉垎椤? Ki*integral = 0.003*0.00 = 0.00 寰垎椤? Kd*derivative = 0.07*0.00 = 0.00 PID杈撳嚭: u = 0.00 [PID璁$畻] 娴嬮噺鍊?156.00, 璇樊=156.00 姣斾緥椤? Kp*error = 1.5*156.00 = 234.00 绉垎椤? Ki*integral = 0.006*300.00 = 1.80 寰垎椤? Kd*derivative = 20*24.96 = 499.20 PID杈撳嚭: u = 735.00 璁$畻鏂颁綅缃? H=500.00, V=1041.97 [鑸垫満璁剧疆] 鍘熷鐩爣: H=500.00, V=1041.97 浣嶇疆闄愬埗鐢熸晥: H=500, V=800 璁剧疆鑸垫満浣嶇疆: H=500, V=800, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 褰撳墠甯х巼: 19.5 FPS 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 鍦嗗績闃熷垪: 鏁伴噺=11, 骞冲潎鍊?(309.09,397.73), 鏍囧噯宸?(79.09,3.67) 鍦嗗績鍋忓樊: dx=14, dy=156 閫€鍑虹▼搴? 鑸垫満褰掍腑 绋嬪簭缁撴潫

姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.24 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-1.00 = -0.05 PID杈撳嚭: u = 4.95 璁$畻鏂颁綅缃? H=462.24, V=381.32 [鑸垫満璁剧疆] 鍘熷鐩爣: H=462.24, V=381.32 浣嶇疆闄愬埗鐢熸晥: H=462, V=381 璁剧疆鑸垫満浣嶇疆: H=462, V=381, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,239), 杞撮暱(5.07,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=33, 骞冲潎鍊?(312.55,271.36), 鏍囧噯宸?(19.52,85.01) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=462, V=381 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.20 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.80 = -0.04 PID杈撳嚭: u = 4.96 璁$畻鏂颁綅缃? H=461.24, V=379.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=461.24, V=379.31 浣嶇疆闄愬埗鐢熸晥: H=461, V=379 璁剧疆鑸垫満浣嶇疆: H=461, V=379, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=34, 骞冲潎鍊?(312.76,270.44), 鏍囧噯宸?(19.27,83.92) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=461, V=379 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.16 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.64 = -0.03 PID杈撳嚭: u = 4.97 璁$畻鏂颁綅缃? H=460.24, V=377.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=460.24, V=377.31 浣嶇疆闄愬埗鐢熸晥: H=460, V=377 璁剧疆鑸垫満浣嶇疆: H=460, V=377, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=35, 骞冲潎鍊?(312.97,269.57), 鏍囧噯宸?(19.03,82.86) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=460, V=377 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.13 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.51 = -0.03 PID杈撳嚭: u = 4.97 璁$畻鏂颁綅缃? H=459.24, V=375.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=459.24, V=375.31 浣嶇疆闄愬埗鐢熸晥: H=459, V=375 璁剧疆鑸垫満浣嶇疆: H=459, V=375, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=36, 骞冲潎鍊?(313.17,268.75), 鏍囧噯宸?(18.80,81.85) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=459, V=375 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.10 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.41 = -0.02 PID杈撳嚭: u = 4.98 璁$畻鏂颁綅缃? H=458.24, V=373.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=458.24, V=373.31 浣嶇疆闄愬埗鐢熸晥: H=458, V=373 璁剧疆鑸垫満浣嶇疆: H=458, V=373, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=37, 骞冲潎鍊?(313.32,267.95), 鏍囧噯宸?(18.57,80.88) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=458, V=373 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.08 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.33 = -0.02 PID杈撳嚭: u = 4.98 璁$畻鏂颁綅缃? H=457.24, V=371.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=457.24, V=371.31 浣嶇疆闄愬埗鐢熸晥: H=457, V=371 璁剧疆鑸垫満浣嶇疆: H=457, V=371, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=38, 骞冲潎鍊?(313.50,267.21), 鏍囧噯宸?(18.35,79.93) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=457, V=371 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.06 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.26 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=456.24, V=369.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=456.24, V=369.30 浣嶇疆闄愬埗鐢熸晥: H=456, V=369 璁剧疆鑸垫満浣嶇疆: H=456, V=369, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.33,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=39, 骞冲潎鍊?(313.64,266.49), 鏍囧噯宸?(18.14,79.03) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=456, V=369 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.05 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.21 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=455.24, V=367.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=455.24, V=367.30 浣嶇疆闄愬埗鐢熸晥: H=455, V=367 璁剧疆鑸垫満浣嶇疆: H=455, V=367, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=40, 骞冲潎鍊?(313.80,265.82), 鏍囧噯宸?(17.94,78.14) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=455, V=367 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.04 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.17 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=454.24, V=365.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=454.24, V=365.30 浣嶇疆闄愬埗鐢熸晥: H=454, V=365 璁剧疆鑸垫満浣嶇疆: H=454, V=365, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=41, 骞冲潎鍊?(313.95,265.20), 鏍囧噯宸?(17.74,77.29) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=454, V=365 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.03 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.13 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=453.24, V=363.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=453.24, V=363.30 浣嶇疆闄愬埗鐢熸晥: H=453, V=363 璁剧疆鑸垫満浣嶇疆: H=453, V=363, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=42, 骞冲潎鍊?(314.10,264.60), 鏍囧噯宸?(17.56,76.46) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=453, V=363 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.03 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.11 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=452.24, V=361.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=452.24, V=361.30 浣嶇疆闄愬埗鐢熸晥: H=452, V=361 璁剧疆鑸垫満浣嶇疆: H=452, V=361, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=43, 骞冲潎鍊?(314.23,264.02), 鏍囧噯宸?(17.37,75.65) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=452, V=361 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.02 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.09 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=451.24, V=359.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=451.24, V=359.30 浣嶇疆闄愬埗鐢熸晥: H=451, V=359 璁剧疆鑸垫満浣嶇疆: H=451, V=359, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=44, 骞冲潎鍊?(314.36,263.48), 鏍囧噯宸?(17.20,74.88) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=451, V=359 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.02 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.07 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=450.24, V=357.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=450.24, V=357.30 浣嶇疆闄愬埗鐢熸晥: H=450, V=357 璁剧疆鑸垫満浣嶇疆: H=450, V=357, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=45, 骞冲潎鍊?(314.49,262.96), 鏍囧噯宸?(17.02,74.12) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=450, V=357 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.06 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=449.24, V=355.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=449.24, V=355.30 浣嶇疆闄愬埗鐢熸晥: H=449, V=355 璁剧疆鑸垫満浣嶇疆: H=449, V=355, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=46, 骞冲潎鍊?(314.59,262.43), 鏍囧噯宸?(16.85,73.39) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=449, V=355 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.04 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=448.24, V=353.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=448.24, V=353.30 浣嶇疆闄愬埗鐢熸晥: H=448, V=353 璁剧疆鑸垫満浣嶇疆: H=448, V=353, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=47, 骞冲潎鍊?(314.70,261.96), 鏍囧噯宸?(16.69,72.68) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=448, V=353 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.04 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=447.24, V=351.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=447.24, V=351.30 浣嶇疆闄愬埗鐢熸晥: H=447, V=351 璁剧疆鑸垫満浣嶇疆: H=447, V=351, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.08,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=48, 骞冲潎鍊?(314.81,261.50), 鏍囧噯宸?(16.53,71.99) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=447, V=351 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.03 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=446.24, V=349.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=446.24, V=349.30 浣嶇疆闄愬埗鐢熸晥: H=446, V=349 璁剧疆鑸垫満浣嶇疆: H=446, V=349, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=49, 骞冲潎鍊?(314.92,261.06), 鏍囧噯宸?(16.38,71.31) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=446, V=349 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.02 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=445.24, V=347.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=445.24, V=347.30 浣嶇疆闄愬埗鐢熸晥: H=445, V=347 璁剧疆鑸垫満浣嶇疆: H=445, V=347, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=50, 骞冲潎鍊?(315.02,260.64), 鏍囧噯宸?(16.23,70.66) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=445, V=347 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.02 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=444.24, V=345.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=444.24, V=345.30 浣嶇疆闄愬埗鐢熸晥: H=444, V=345 璁剧疆鑸垫満浣嶇疆: H=444, V=345, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(260,501), 杞撮暱(72.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=52, 骞冲潎鍊?(314.06,264.87), 鏍囧噯宸?(17.64,76.82) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=444, V=345 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=443.24, V=343.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=443.24, V=343.30 浣嶇疆闄愬埗鐢熸晥: H=443, V=343 璁剧疆鑸垫満浣嶇疆: H=443, V=343, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=53, 骞冲潎鍊?(314.17,264.40), 鏍囧噯宸?(17.49,76.17) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=443, V=343 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=442.24, V=341.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=442.24, V=341.30 浣嶇疆闄愬埗鐢熸晥: H=442, V=341 璁剧疆鑸垫満浣嶇疆: H=442, V=341, 绉诲姩鏃堕棿=0.50绉?褰撳墠甯х巼: 30.0 FPS 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=54, 骞冲潎鍊?(314.28,263.94), 鏍囧噯宸?(17.34,75.53) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=442, V=341 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=441.24, V=339.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=441.24, V=339.30 浣嶇疆闄愬埗鐢熸晥: H=441, V=339 璁剧疆鑸垫満浣嶇疆: H=441, V=339, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=55, 骞冲潎鍊?(314.38,263.51), 鏍囧噯宸?(17.20,74.91) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=441, V=339 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=440.24, V=337.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=440.24, V=337.30 浣嶇疆闄愬埗鐢熸晥: H=440, V=337 璁剧疆鑸垫満浣嶇疆: H=440, V=337, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=56, 骞冲潎鍊?(314.48,263.09), 鏍囧噯宸?(17.06,74.31) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=440, V=337 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=439.24, V=335.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=439.24, V=335.30 浣嶇疆闄愬埗鐢熸晥: H=439, V=335 璁剧疆鑸垫満浣嶇疆: H=439, V=335, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=57, 骞冲潎鍊?(314.58,262.68), 鏍囧噯宸?(16.93,73.71) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=439, V=335 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=438.24, V=333.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=438.24, V=333.30 浣嶇疆闄愬埗鐢熸晥: H=438, V=333 璁剧疆鑸垫満浣嶇疆: H=438, V=333, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=58, 骞冲潎鍊?(314.67,262.29), 鏍囧噯宸?(16.80,73.13) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=438, V=333 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=437.24, V=331.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=437.24, V=331.30 浣嶇疆闄愬埗鐢熸晥: H=437, V=331 璁剧疆鑸垫満浣嶇疆: H=437, V=331, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.15,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=59, 骞冲潎鍊?(314.76,261.92), 鏍囧噯宸?(16.67,72.57) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=437, V=331 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=436.24, V=329.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=436.24, V=329.30 浣嶇疆闄愬埗鐢熸晥: H=436, V=329 璁剧疆鑸垫満浣嶇疆: H=436, V=329, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=60, 骞冲潎鍊?(314.85,261.55), 鏍囧噯宸?(16.54,72.02) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=436, V=329 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=435.24, V=327.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=435.24, V=327.30 浣嶇疆闄愬埗鐢熸晥: H=435, V=327 璁剧疆鑸垫満浣嶇疆: H=435, V=327, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=61, 骞冲潎鍊?(314.93,261.20), 鏍囧噯宸?(16.42,71.48) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=435, V=327 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=434.24, V=325.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=434.24, V=325.30 浣嶇疆闄愬埗鐢熸晥: H=434, V=325 璁剧疆鑸垫満浣嶇疆: H=434, V=325, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=62, 骞冲潎鍊?(315.02,260.85), 鏍囧噯宸?(16.30,70.95) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=434, V=325 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=433.24, V=323.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=433.24, V=323.30 浣嶇疆闄愬埗鐢熸晥: H=433, V=323 璁剧疆鑸垫満浣嶇疆: H=433, V=323, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,239), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=63, 骞冲潎鍊?(315.10,260.51), 鏍囧噯宸?(16.18,70.44) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=433, V=323 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=432.24, V=321.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=432.24, V=321.30 浣嶇疆闄愬埗鐢熸晥: H=432, V=321 璁剧疆鑸垫満浣嶇疆: H=432, V=321, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=64, 骞冲潎鍊?(315.17,260.19), 鏍囧噯宸?(16.06,69.93) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=432, V=321 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=431.24, V=319.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=431.24, V=319.30 浣嶇疆闄愬埗鐢熸晥: H=431, V=319 璁剧疆鑸垫満浣嶇疆: H=431, V=319, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.15,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=65, 骞冲潎鍊?(315.25,259.88), 鏍囧噯宸?(15.95,69.43) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=431, V=319 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=430.24, V=317.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=430.24, V=317.30 浣嶇疆闄愬埗鐢熸晥: H=430, V=317 璁剧疆鑸垫満浣嶇疆: H=430, V=317, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(4.99,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(315.32,259.58), 鏍囧噯宸?(15.84,68.95) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=430, V=317 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=429.24, V=315.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=429.24, V=315.30 浣嶇疆闄愬埗鐢熸晥: H=429, V=315 璁剧疆鑸垫満浣嶇疆: H=429, V=315, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=67, 骞冲潎鍊?(315.37,259.27), 鏍囧噯宸?(15.73,68.48) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=429, V=315 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=428.24, V=313.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=428.24, V=313.30 浣嶇疆闄愬埗鐢熸晥: H=428, V=313 璁剧疆鑸垫満浣嶇疆: H=428, V=313, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=68, 骞冲潎鍊?(315.43,258.97), 鏍囧噯宸?(15.62,68.02) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=428, V=313 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=427.24, V=311.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=427.24, V=311.30 浣嶇疆闄愬埗鐢熸晥: H=427, V=311 璁剧疆鑸垫満浣嶇疆: H=427, V=311, 绉诲姩鏃堕棿=0.50绉? 鍦嗗績闃熷垪: 鏁伴噺=68, 骞冲潎鍊?(315.43,258.97), 鏍囧噯宸?(15.62,68.02) 鍦嗗績鍋忓樊: dx=-1, dy=-1 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(4.94,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=69, 骞冲潎鍊?(315.48,258.68), 鏍囧噯宸?(15.51,67.56) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=427, V=311 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=426.24, V=309.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=426.24, V=309.30 浣嶇疆闄愬埗鐢熸晥: H=426, V=309 璁剧疆鑸垫満浣嶇疆: H=426, V=309, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(4.91,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=70, 骞冲潎鍊?(315.53,258.40), 鏍囧噯宸?(15.41,67.12) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=426, V=309 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=425.24, V=307.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=425.24, V=307.30 浣嶇疆闄愬埗鐢熸晥: H=425, V=307 璁剧疆鑸垫満浣嶇疆: H=425, V=307, 绉诲姩鏃堕棿=0.50绉? 鍦嗗績闃熷垪: 鏁伴噺=70, 骞冲潎鍊?(315.53,258.40), 鏍囧噯宸?(15.41,67.12) 鍦嗗績鍋忓樊: dx=-1, dy=-1 Traceback (most recent call last): File "/home/pi/yuan4.py", line 363, in <module> main() File "/home/pi/yuan4.py", line 213, in main rectangle = detect_black_rectangle(frame) File "/home/pi/yuan4.py", line 135, in detect_black_rectangle box = np.int0(box) File "/home/pi/openvino_env/lib/python3.9/site-packages/numpy/__init__.py", line 410, in __getattr__ raise AttributeError("module {!r} has no attribute " AttributeError: module 'numpy' has no attribute 'int0'

[PID璁$畻] 娴嬮噺鍊?29.00, 璇樊=29.00 姣斾緥椤? Kp*error = 0.2*29.00 = 5.80 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-4.21 = -0.21 PID杈撳嚭: u = 10.59 璁$畻鏂颁綅缃? H=583.79, V=595.60 [鑸垫満璁剧疆] 鍘熷鐩爣: H=583.79, V=595.60 浣嶇疆闄愬埗鐢熸晥: H=583, V=595 璁剧疆鑸垫満浣嶇疆: H=583, V=595, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=65, 骞冲潎鍊?(277.82,267.91), 鏍囧噯宸?(72.46,69.75) 鍦嗗績鍋忓樊: dx=-36, dy=29 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(429,401), 杞撮暱(0.00,15.27), 瑙掑害=21.58掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 褰撳墠鑸垫満浣嶇疆: H=583, V=595 [PID璁$畻] 娴嬮噺鍊?-33.00, 璇樊=-33.00 姣斾緥椤? Kp*error = 0.2*-33.00 = -6.60 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*2.95 = 0.15 PID杈撳嚭: u = -11.45 [PID璁$畻] 娴嬮噺鍊?31.00, 璇樊=31.00 姣斾緥椤? Kp*error = 0.2*31.00 = 6.20 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-2.97 = -0.15 PID杈撳嚭: u = 11.05 璁$畻鏂颁綅缃? H=586.60, V=598.76 [鑸垫満璁剧疆] 鍘熷鐩爣: H=586.60, V=598.76 浣嶇疆闄愬埗鐢熸晥: H=586, V=598 璁剧疆鑸垫満浣嶇疆: H=586, V=598, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(280.11,269.92), 鏍囧噯宸?(74.24,71.10) 鍦嗗績鍋忓樊: dx=-33, dy=31 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(254,227), 杞撮暱(0.00,33.33), 瑙掑害=12.43掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=67, 骞冲潎鍊?(279.72,269.28), 鏍囧噯宸?(73.75,70.76) 鍦嗗績鍋忓樊: dx=-34, dy=30 褰撳墠鑸垫満浣嶇疆: H=586, V=598 [PID璁$畻] 娴嬮噺鍊?-34.00, 璇樊=-34.00 姣斾緥椤? Kp*error = 0.2*-34.00 = -6.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*2.16 = 0.11 PID杈撳嚭: u = -11.69 [PID璁$畻] 娴嬮噺鍊?30.00, 璇樊=30.00 姣斾緥椤? Kp*error = 0.2*30.00 = 6.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-2.57 = -0.13 PID杈撳嚭: u = 10.87 璁$畻鏂颁綅缃? H=589.68, V=601.70 [鑸垫満璁剧疆] 鍘熷鐩爣: H=589.68, V=601.70 浣嶇疆闄愬埗鐢熸晥: H=589, V=601 璁剧疆鑸垫満浣嶇疆: H=589, V=601, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(503,41), 杞撮暱(0.00,109.95), 瑙掑害=101.48掳, 鍦嗗害=1.0000 妞渾 2: 涓績(502,44), 杞撮暱(0.00,80.98), 瑙掑害=74.85掳, 鍦嗗害=1.0000 妞渾 3: 涓績(501,45), 杞撮暱(0.00,53.64), 瑙掑害=49.79掳, 鍦嗗害=1.0000 妞渾 4: 涓績(501,46), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(260,224), 杞撮暱(0.00,27.08), 瑙掑害=11.88掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=72, 骞冲潎鍊?(291.78,256.14), 鏍囧噯宸?(87.53,85.65) 鍦嗗績鍋忓樊: dx=-41, dy=28 褰撳墠鑸垫満浣嶇疆: H=589, V=601 [PID璁$畻] 娴嬮噺鍊?-41.00, 璇樊=-41.00 姣斾緥椤? Kp*error = 0.2*-41.00 = -8.20 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*0.33 = 0.02 PID杈撳嚭: u = -13.18 [PID璁$畻] 娴嬮噺鍊?28.00, 璇樊=28.00 姣斾緥椤? Kp*error = 0.2*28.00 = 5.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-2.46 = -0.12 PID杈撳嚭: u = 10.48 璁$畻鏂颁綅缃? H=593.15, V=604.56 [鑸垫満璁剧疆] 鍘熷鐩爣: H=593.15, V=604.56 浣嶇疆闄愬埗鐢熸晥: H=593, V=604 璁剧疆鑸垫満浣嶇疆: H=593, V=604, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(501,34), 杞撮暱(109.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(505,43), 杞撮暱(0.00,84.33), 瑙掑害=76.80掳, 鍦嗗害=1.0000 妞渾 3: 涓績(504,43), 杞撮暱(75.87,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(504,44), 杞撮暱(0.00,57.14), 瑙掑害=51.64掳, 鍦嗗害=1.0000 妞渾 5: 涓績(504,44), 杞撮暱(49.43,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 6: 涓績(397,214), 杞撮暱(0.00,20.95), 瑙掑害=13.66掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=78, 骞冲潎鍊?(306.71,241.85), 鏍囧噯宸?(99.33,97.68) 鍦嗗績鍋忓樊: dx=-30, dy=18 褰撳墠鑸垫満浣嶇疆: H=593, V=604 [PID璁$畻] 娴嬮噺鍊?-30.00, 璇樊=-30.00 姣斾緥椤? Kp*error = 0.2*-30.00 = -6.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*2.46 = 0.12 PID杈撳嚭: u = -10.88 [PID璁$畻] 娴嬮噺鍊?18.00, 璇樊=18.00 姣斾緥椤? Kp*error = 0.2*18.00 = 3.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-3.97 = -0.20 PID杈撳嚭: u = 8.40 璁$畻鏂颁綅缃? H=596.42, V=606.86 [鑸垫満璁剧疆] 鍘熷鐩爣: H=596.42, V=606.86 浣嶇疆闄愬埗鐢熸晥: H=596, V=606 璁剧疆鑸垫満浣嶇疆: H=596, V=606, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(507,40), 杞撮暱(0.00,110.37), 瑙掑害=101.59掳, 鍦嗗害=1.0000 妞渾 2: 涓績(506,42), 杞撮暱(0.00,81.37), 瑙掑害=75.02掳, 鍦嗗害=1.0000 妞渾 3: 涓績(505,44), 杞撮暱(0.00,53.93), 瑙掑害=49.87掳, 鍦嗗害=1.0000 妞渾 4: 涓績(505,44), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(394,215), 杞撮暱(0.00,24.67), 瑙掑害=16.32掳, 鍦嗗害=1.0000 妞渾 6: 涓績(261,222), 杞撮暱(0.00,29.92), 瑙掑害=11.94掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=84, 骞冲潎鍊?(316.68,231.80), 鏍囧噯宸?(105.19,103.27) 鍦嗗績鍋忓樊: dx=-4, dy=-9 褰撳墠鑸垫満浣嶇疆: H=596, V=606 [PID璁$畻] 娴嬮噺鍊?-4.00, 璇樊=-4.00 姝诲尯鐢熸晥: |-4.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*7.97 = 0.40 PID杈撳嚭: u = -4.60 [PID璁$畻] 娴嬮噺鍊?-9.00, 璇樊=-9.00 姣斾緥椤? Kp*error = 0.2*-9.00 = -1.80 绉垎椤? Ki*integral = 0.01*491.00 = 4.91 寰垎椤? Kd*derivative = 0.05*-8.57 = -0.43 PID杈撳嚭: u = 2.68 璁$畻鏂颁綅缃? H=597.45, V=606.91 [鑸垫満璁剧疆] 鍘熷鐩爣: H=597.45, V=606.91 浣嶇疆闄愬埗鐢熸晥: H=597, V=606 璁剧疆鑸垫満浣嶇疆: H=597, V=606, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(508,40), 杞撮暱(0.00,110.48), 瑙掑害=101.63掳, 鍦嗗害=1.0000 妞渾 2: 涓績(506,42), 杞撮暱(0.00,81.36), 瑙掑害=75.01掳, 鍦嗗害=1.0000 妞渾 3: 涓績(506,44), 杞撮暱(0.00,53.99), 瑙掑害=49.93掳, 鍦嗗害=1.0000 妞渾 4: 涓績(505,44), 杞撮暱(28.49,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(261,222), 杞撮暱(0.00,30.41), 瑙掑害=12.06掳, 鍦嗗害=1.0000 妞渾 6: 涓績(395,215), 杞撮暱(0.00,24.45), 瑙掑害=15.69掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=90, 骞冲潎鍊?(325.36,223.09), 鏍囧噯宸?(109.32,107.12) 鍦嗗績鍋忓樊: dx=5, dy=-17 褰撳墠鑸垫満浣嶇疆: H=597, V=606 [PID璁$畻] 娴嬮噺鍊?5.00, 璇樊=5.00 姣斾緥椤? Kp*error = 0.2*5.00 = 1.00 绉垎椤? Ki*integral = 0.01*-495.00 = -4.95 寰垎椤? Kd*derivative = 0.05*7.38 = 0.37 PID杈撳嚭: u = -3.58 [PID璁$畻] 娴嬮噺鍊?-17.00, 璇樊=-17.00 姣斾緥椤? Kp*error = 0.2*-17.00 = -3.40 绉垎椤? Ki*integral = 0.01*474.00 = 4.74 寰垎椤? Kd*derivative = 0.05*-8.46 = -0.42 PID杈撳嚭: u = 0.92 璁$畻鏂颁綅缃? H=598.13, V=606.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=598.13, V=606.31 浣嶇疆闄愬埗鐢熸晥: H=598, V=606 璁剧疆鑸垫満浣嶇疆: H=598, V=606, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(509,40), 杞撮暱(0.00,110.36), 瑙掑害=101.88掳, 鍦嗗害=1.0000 妞渾 2: 涓績(507,43), 杞撮暱(0.00,80.42), 瑙掑害=74.96掳, 鍦嗗害=1.0000 妞渾 3: 涓績(507,44), 杞撮暱(0.00,53.89), 瑙掑害=50.05掳, 鍦嗗害=1.0000 妞渾 4: 涓績(396,215), 杞撮暱(0.00,23.88), 瑙掑害=15.56掳, 鍦嗗害=1.0000 妞渾 5: 涓績(263,222), 杞撮暱(0.00,29.05), 瑙掑害=12.26掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=95, 骞冲潎鍊?(331.20,217.28), 鏍囧噯宸?(111.50,108.95) 鍦嗗績鍋忓樊: dx=11, dy=-23 褰撳墠鑸垫満浣嶇疆: H=598, V=606 [PID璁$畻] 娴嬮噺鍊?11.00, 璇樊=11.00 姣斾緥椤? Kp*error = 0.2*11.00 = 2.20 绉垎椤? Ki*integral = 0.01*-484.00 = -4.84 寰垎椤? Kd*derivative = 0.05*7.10 = 0.36 PID杈撳嚭: u = -2.28 [PID璁$畻] 娴嬮噺鍊?-23.00, 璇樊=-23.00 姣斾緥椤? Kp*error = 0.2*-23.00 = -4.60 绉垎椤? Ki*integral = 0.01*451.00 = 4.51 寰垎椤? Kd*derivative = 0.05*-7.97 = -0.40 PID杈撳嚭: u = -0.49 璁$畻鏂颁綅缃? H=598.72, V=605.83 [鑸垫満璁剧疆] 鍘熷鐩爣: H=598.72, V=605.83 浣嶇疆闄愬埗鐢熸晥: H=598, V=605 璁剧疆鑸垫満浣嶇疆: H=598, V=605, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(512,40), 杞撮暱(0.00,110.62), 瑙掑害=101.74掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,42), 杞撮暱(0.00,81.42), 瑙掑害=74.99掳, 鍦嗗害=1.0000 妞渾 3: 涓績(510,44), 杞撮暱(0.00,53.99), 瑙掑害=49.99掳, 鍦嗗害=1.0000 妞渾 4: 涓績(510,44), 杞撮暱(28.46,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(266,209), 杞撮暱(0.00,33.20), 瑙掑害=25.50掳, 鍦嗗害=1.0000 妞渾 6: 涓績(399,215), 杞撮暱(0.00,23.61), 瑙掑害=15.84掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(339.30,209.08), 鏍囧噯宸?(114.21,110.94) 鍦嗗績鍋忓樊: dx=19, dy=-31 褰撳墠鑸垫満浣嶇疆: H=598, V=605 [PID璁$畻] 娴嬮噺鍊?19.00, 璇樊=19.00 姣斾緥椤? Kp*error = 0.2*19.00 = 3.80 绉垎椤? Ki*integral = 0.01*-465.00 = -4.65 寰垎椤? Kd*derivative = 0.05*7.28 = 0.36 PID杈撳嚭: u = -0.49 [PID璁$畻] 娴嬮噺鍊?-31.00, 璇樊=-31.00 姣斾緥椤? Kp*error = 0.2*-31.00 = -6.20 绉垎椤? Ki*integral = 0.01*420.00 = 4.20 寰垎椤? Kd*derivative = 0.05*-7.97 = -0.40 PID杈撳嚭: u = -2.40 璁$畻鏂颁綅缃? H=598.15, V=604.18 [鑸垫満璁剧疆] 鍘熷鐩爣: H=598.15, V=604.18 浣嶇疆闄愬埗鐢熸晥: H=598, V=604 璁剧疆鑸垫満浣嶇疆: H=598, V=604, 绉诲姩鏃堕棿=500ms 褰撳墠甯х巼: 21.7 FPS 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(512,40), 杞撮暱(0.00,110.68), 瑙掑害=101.65掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.52), 瑙掑害=75.06掳, 鍦嗗害=1.0000 妞渾 3: 涓績(510,44), 杞撮暱(0.00,54.05), 瑙掑害=49.89掳, 鍦嗗害=1.0000 妞渾 4: 涓績(510,45), 杞撮暱(28.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(404,214), 杞撮暱(0.00,19.95), 瑙掑害=13.46掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(351.68,196.62), 鏍囧噯宸?(116.76,112.11) 鍦嗗績鍋忓樊: dx=31, dy=-44 褰撳墠鑸垫満浣嶇疆: H=598, V=604 [PID璁$畻] 娴嬮噺鍊?31.00, 璇樊=31.00 姣斾緥椤? Kp*error = 0.2*31.00 = 6.20 绉垎椤? Ki*integral = 0.01*-434.00 = -4.34 寰垎椤? Kd*derivative = 0.05*8.22 = 0.41 PID杈撳嚭: u = 2.27 [PID璁$畻] 娴嬮噺鍊?-44.00, 璇樊=-44.00 姣斾緥椤? Kp*error = 0.2*-44.00 = -8.80 绉垎椤? Ki*integral = 0.01*376.00 = 3.76 寰垎椤? Kd*derivative = 0.05*-8.98 = -0.45 PID杈撳嚭: u = -5.49 璁$畻鏂颁綅缃? H=597.29, V=602.13 [鑸垫満璁剧疆] 鍘熷鐩爣: H=597.29, V=602.13 浣嶇疆闄愬埗鐢熸晥: H=597, V=602 璁剧疆鑸垫満浣嶇疆: H=597, V=602, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(506,31), 杞撮暱(115.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.45), 瑙掑害=75.04掳, 鍦嗗害=1.0000 妞渾 3: 涓績(510,44), 杞撮暱(0.00,54.02), 瑙掑害=49.96掳, 鍦嗗害=1.0000 妞渾 4: 涓績(266,222), 杞撮暱(0.00,28.92), 瑙掑害=12.10掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(359.95,186.91), 鏍囧噯宸?(117.87,111.97) 鍦嗗績鍋忓樊: dx=39, dy=-54 褰撳墠鑸垫満浣嶇疆: H=597, V=602 [PID璁$畻] 娴嬮噺鍊?39.00, 璇樊=39.00 姣斾緥椤? Kp*error = 0.2*39.00 = 7.80 绉垎椤? Ki*integral = 0.01*-395.00 = -3.95 寰垎椤? Kd*derivative = 0.05*8.18 = 0.41 PID杈撳嚭: u = 4.26 [PID璁$畻] 娴嬮噺鍊?-54.00, 璇樊=-54.00 姣斾緥椤? Kp*error = 0.2*-54.00 = -10.80 绉垎椤? Ki*integral = 0.01*322.00 = 3.22 寰垎椤? Kd*derivative = 0.05*-9.18 = -0.46 PID杈撳嚭: u = -8.04 璁$畻鏂颁綅缃? H=595.66, V=599.27 [鑸垫満璁剧疆] 鍘熷鐩爣: H=595.66, V=599.27 浣嶇疆闄愬埗鐢熸晥: H=595, V=599 璁剧疆鑸垫満浣嶇疆: H=595, V=599, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(507,32), 杞撮暱(114.70,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(512,43), 杞撮暱(0.00,81.56), 瑙掑害=75.03掳, 鍦嗗害=1.0000 妞渾 3: 涓績(511,44), 杞撮暱(0.00,54.05), 瑙掑害=49.81掳, 鍦嗗害=1.0000 妞渾 4: 涓績(264,221), 杞撮暱(0.00,31.88), 瑙掑害=12.19掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(368.20,177.24), 鏍囧噯宸?(118.49,111.01) 鍦嗗績鍋忓樊: dx=50, dy=-65 褰撳墠鑸垫満浣嶇疆: H=595, V=599 [PID璁$畻] 娴嬮噺鍊?50.00, 璇樊=50.00 姣斾緥椤? Kp*error = 0.2*50.00 = 10.00 绉垎椤? Ki*integral = 0.01*-345.00 = -3.45 寰垎椤? Kd*derivative = 0.05*8.74 = 0.44 PID杈撳嚭: u = 6.99 [PID璁$畻] 娴嬮噺鍊?-65.00, 璇樊=-65.00 姣斾緥椤? Kp*error = 0.2*-65.00 = -13.00 绉垎椤? Ki*integral = 0.01*257.00 = 2.57 寰垎椤? Kd*derivative = 0.05*-9.55 = -0.48 PID杈撳嚭: u = -10.91 璁$畻鏂颁綅缃? H=592.80, V=595.29 [鑸垫満璁剧疆] 鍘熷鐩爣: H=592.80, V=595.29 浣嶇疆闄愬埗鐢熸晥: H=592, V=595 璁剧疆鑸垫満浣嶇疆: H=592, V=595, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(512,43), 杞撮暱(0.00,81.60), 瑙掑害=75.08掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.09), 瑙掑害=49.94掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(373.58,171.58), 鏍囧噯宸?(118.76,110.47) 鍦嗗績鍋忓樊: dx=59, dy=-72 褰撳墠鑸垫満浣嶇疆: H=592, V=595 [PID璁$畻] 娴嬮噺鍊?59.00, 璇樊=59.00 姣斾緥椤? Kp*error = 0.2*59.00 = 11.80 绉垎椤? Ki*integral = 0.01*-286.00 = -2.86 寰垎椤? Kd*derivative = 0.05*8.79 = 0.44 PID杈撳嚭: u = 9.38 [PID璁$畻] 娴嬮噺鍊?-72.00, 璇樊=-72.00 姣斾緥椤? Kp*error = 0.2*-72.00 = -14.40 绉垎椤? Ki*integral = 0.01*185.00 = 1.85 寰垎椤? Kd*derivative = 0.05*-9.04 = -0.45 PID杈撳嚭: u = -13.00 璁$畻鏂颁綅缃? H=589.05, V=590.58 [鑸垫満璁剧疆] 鍘熷鐩爣: H=589.05, V=590.58 浣嶇疆闄愬埗鐢熸晥: H=589, V=590 璁剧疆鑸垫満浣嶇疆: H=589, V=590, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.56), 瑙掑害=75.01掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.09), 瑙掑害=49.93掳, 鍦嗗害=1.0000 妞渾 3: 涓績(270,223), 杞撮暱(0.00,24.32), 瑙掑害=11.61掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(379.25,164.90), 鏍囧噯宸?(118.47,108.62) 鍦嗗績鍋忓樊: dx=68, dy=-79 褰撳墠鑸垫満浣嶇疆: H=589, V=590 [PID璁$畻] 娴嬮噺鍊?68.00, 璇樊=68.00 姣斾緥椤? Kp*error = 0.2*68.00 = 13.60 绉垎椤? Ki*integral = 0.01*-218.00 = -2.18 寰垎椤? Kd*derivative = 0.05*8.84 = 0.44 PID杈撳嚭: u = 11.86 [PID璁$畻] 娴嬮噺鍊?-79.00, 璇樊=-79.00 姣斾緥椤? Kp*error = 0.2*-79.00 = -15.80 绉垎椤? Ki*integral = 0.01*106.00 = 1.06 寰垎椤? Kd*derivative = 0.05*-8.63 = -0.43 PID杈撳嚭: u = -15.17 璁$畻鏂颁綅缃? H=585.27, V=584.84 [鑸垫満璁剧疆] 鍘熷鐩爣: H=585.27, V=584.84 浣嶇疆闄愬埗鐢熸晥: H=585, V=584 璁剧疆鑸垫満浣嶇疆: H=585, V=584, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.51), 瑙掑害=75.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.03), 瑙掑害=49.90掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(384.59,159.23), 鏍囧噯宸?(118.27,107.40) 鍦嗗績鍋忓樊: dx=74, dy=-85 褰撳墠鑸垫満浣嶇疆: H=585, V=584 [PID璁$畻] 娴嬮噺鍊?74.00, 璇樊=74.00 姣斾緥椤? Kp*error = 0.2*74.00 = 14.80 绉垎椤? Ki*integral = 0.01*-144.00 = -1.44 寰垎椤? Kd*derivative = 0.05*8.27 = 0.41 PID杈撳嚭: u = 13.77 [PID璁$畻] 娴嬮噺鍊?-85.00, 璇樊=-85.00 姣斾緥椤? Kp*error = 0.2*-85.00 = -17.00 绉垎椤? Ki*integral = 0.01*21.00 = 0.21 寰垎椤? Kd*derivative = 0.05*-8.10 = -0.41 PID杈撳嚭: u = -17.20 璁$畻鏂颁綅缃? H=580.67, V=578.15 [鑸垫満璁剧疆] 鍘熷鐩爣: H=580.67, V=578.15 浣嶇疆闄愬埗鐢熸晥: H=580, V=578 璁剧疆鑸垫満浣嶇疆: H=580, V=578, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(513,40), 杞撮暱(0.00,112.68), 瑙掑害=103.53掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,43), 杞撮暱(0.00,81.61), 瑙掑害=75.06掳, 鍦嗗害=1.0000 妞渾 3: 涓績(511,45), 杞撮暱(0.00,54.06), 瑙掑害=49.91掳, 鍦嗗害=1.0000 妞渾 4: 涓績(399,216), 杞撮暱(0.00,23.39), 瑙掑害=15.90掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(394.25,149.58), 鏍囧噯宸?(116.48,103.70) 鍦嗗績鍋忓樊: dx=89, dy=-99 褰撳墠鑸垫満浣嶇疆: H=580, V=578 [PID璁$畻] 娴嬮噺鍊?89.00, 璇樊=89.00 姣斾緥椤? Kp*error = 0.2*89.00 = 17.80 绉垎椤? Ki*integral = 0.01*-55.00 = -0.55 寰垎椤? Kd*derivative = 0.05*9.61 = 0.48 PID杈撳嚭: u = 17.73 [PID璁$畻] 娴嬮噺鍊?-99.00, 璇樊=-99.00 姣斾緥椤? Kp*error = 0.2*-99.00 = -19.80 绉垎椤? Ki*integral = 0.01*-78.00 = -0.78 寰垎椤? Kd*derivative = 0.05*-9.28 = -0.46 PID杈撳嚭: u = -21.04 璁$畻鏂颁綅缃? H=574.42, V=570.84 [鑸垫満璁剧疆] 鍘熷鐩爣: H=574.42, V=570.84 浣嶇疆闄愬埗鐢熸晥: H=574, V=570 璁剧疆鑸垫満浣嶇疆: H=574, V=570, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(511,43), 杞撮暱(0.00,81.53), 瑙掑害=75.04掳, 鍦嗗害=1.0000 妞渾 2: 涓績(511,44), 杞撮暱(0.00,54.03), 瑙掑害=49.95掳, 鍦嗗害=1.0000 妞渾 3: 涓績(397,216), 杞撮暱(0.00,25.54), 瑙掑害=16.42掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(401.11,142.84), 鏍囧噯宸?(114.54,100.23) 鍦嗗績鍋忓樊: dx=96, dy=-107 褰撳墠鑸垫満浣嶇疆: H=574, V=570 [PID璁$畻] 娴嬮噺鍊?96.00, 璇樊=96.00 姣斾緥椤? Kp*error = 0.2*96.00 = 19.20 绉垎椤? Ki*integral = 0.01*41.00 = 0.41 寰垎椤? Kd*derivative = 0.05*9.09 = 0.45 PID杈撳嚭: u = 20.06 [PID璁$畻] 娴嬮噺鍊?-107.00, 璇樊=-107.00 姣斾緥椤? Kp*error = 0.2*-107.00 = -21.40 绉垎椤? Ki*integral = 0.01*-185.00 = -1.85 寰垎椤? Kd*derivative = 0.05*-9.03 = -0.45 PID杈撳嚭: u = -23.70 璁$畻鏂颁綅缃? H=567.69, V=561.94 [鑸垫満璁剧疆] 鍘熷鐩爣: H=567.69, V=561.94 浣嶇疆闄愬埗鐢熸晥: H=567, V=561 璁剧疆鑸垫満浣嶇疆: H=567, V=561, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(505,49), 杞撮暱(70.59,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(284,226), 杞撮暱(10.37,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69) 鍦嗗績鍋忓樊: dx=100, dy=-110 褰撳墠鑸垫満浣嶇疆: H=567, V=561 [PID璁$畻] 娴嬮噺鍊?100.00, 璇樊=100.00 姣斾緥椤? Kp*error = 0.2*100.00 = 20.00 绉垎椤? Ki*integral = 0.01*141.00 = 1.41 寰垎椤? Kd*derivative = 0.05*8.07 = 0.40 PID杈撳嚭: u = 21.81 [PID璁$畻] 娴嬮噺鍊?-110.00, 璇樊=-110.00 姣斾緥椤? Kp*error = 0.2*-110.00 = -22.00 绉垎椤? Ki*integral = 0.01*-295.00 = -2.95 寰垎椤? Kd*derivative = 0.05*-7.82 = -0.39 PID杈撳嚭: u = -25.34 璁$畻鏂颁綅缃? H=560.14, V=552.38 [鑸垫満璁剧疆] 鍘熷鐩爣: H=560.14, V=552.38 浣嶇疆闄愬埗鐢熸晥: H=560, V=552 璁剧疆鑸垫満浣嶇疆: H=560, V=552, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69) 鍦嗗績鍋忓樊: dx=100, dy=-110 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69) 鍦嗗績鍋忓樊: dx=100, dy=-110 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.09,139.14), 鏍囧噯宸?(113.45,97.69) 鍦嗗績鍋忓樊: dx=100, dy=-110 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(78,161), 杞撮暱(27.12,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.36,138.46), 鏍囧噯宸?(112.64,97.30) 鍦嗗績鍋忓樊: dx=100, dy=-110 褰撳墠鑸垫満浣嶇疆: H=560, V=552 [PID璁$畻] 娴嬮噺鍊?100.00, 璇樊=100.00 姣斾緥椤? Kp*error = 0.2*100.00 = 20.00 绉垎椤? Ki*integral = 0.01*241.00 = 2.41 寰垎椤? Kd*derivative = 0.05*6.46 = 0.32 PID杈撳嚭: u = 22.73 [PID璁$畻] 娴嬮噺鍊?-110.00, 璇樊=-110.00 姣斾緥椤? Kp*error = 0.2*-110.00 = -22.00 绉垎椤? Ki*integral = 0.01*-405.00 = -4.05 寰垎椤? Kd*derivative = 0.05*-6.26 = -0.31 PID杈撳嚭: u = -26.36 璁$畻鏂颁綅缃? H=552.85, V=543.03 [鑸垫満璁剧疆] 鍘熷鐩爣: H=552.85, V=543.03 浣嶇疆闄愬埗鐢熸晥: H=552, V=543 璁剧疆鑸垫満浣嶇疆: H=552, V=543, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(457,159), 杞撮暱(0.00,122.12), 瑙掑害=116.62掳, 鍦嗗害=1.0000 妞渾 2: 涓績(458,162), 杞撮暱(0.00,100.87), 瑙掑害=95.05掳, 鍦嗗害=1.0000 妞渾 3: 涓績(456,163), 杞撮暱(0.00,74.23), 瑙掑害=71.04掳, 鍦嗗害=1.0000 妞渾 4: 涓績(456,164), 杞撮暱(0.00,49.12), 瑙掑害=47.21掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(409.17,136.41), 鏍囧噯宸?(112.20,96.24) 鍦嗗績鍋忓樊: dx=105, dy=-113 褰撳墠鑸垫満浣嶇疆: H=552, V=543 [PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00 姣斾緥椤? Kp*error = 0.2*105.00 = 21.00 绉垎椤? Ki*integral = 0.01*346.00 = 3.46 寰垎椤? Kd*derivative = 0.05*6.17 = 0.31 PID杈撳嚭: u = 24.77 [PID璁$畻] 娴嬮噺鍊?-113.00, 璇樊=-113.00 姣斾緥椤? Kp*error = 0.2*-113.00 = -22.60 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-5.61 = -0.28 PID杈撳嚭: u = -27.88 璁$畻鏂颁綅缃? H=544.21, V=533.52 [鑸垫満璁剧疆] 鍘熷鐩爣: H=544.21, V=533.52 浣嶇疆闄愬埗鐢熸晥: H=544, V=533 璁剧疆鑸垫満浣嶇疆: H=544, V=533, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(455,163), 杞撮暱(49.87,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(412.53,134.17), 鏍囧噯宸?(108.43,92.93) 鍦嗗績鍋忓樊: dx=105, dy=-112 褰撳墠鑸垫満浣嶇疆: H=544, V=533 [PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00 姣斾緥椤? Kp*error = 0.2*105.00 = 21.00 绉垎椤? Ki*integral = 0.01*451.00 = 4.51 寰垎椤? Kd*derivative = 0.05*4.93 = 0.25 PID杈撳嚭: u = 25.76 [PID璁$畻] 娴嬮噺鍊?-112.00, 璇樊=-112.00 姣斾緥椤? Kp*error = 0.2*-112.00 = -22.40 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-4.28 = -0.21 PID杈撳嚭: u = -27.61 璁$畻鏂颁綅缃? H=535.90, V=523.61 [鑸垫満璁剧疆] 鍘熷鐩爣: H=535.90, V=523.61 浣嶇疆闄愬埗鐢熸晥: H=535, V=523 璁剧疆鑸垫満浣嶇疆: H=535, V=523, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(452,163), 杞撮暱(0.00,123.60), 瑙掑害=118.07掳, 鍦嗗害=1.0000 妞渾 2: 涓績(446,164), 杞撮暱(77.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(448,167), 杞撮暱(69.80,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(449,168), 杞撮暱(0.00,48.03), 瑙掑害=47.30掳, 鍦嗗害=1.0000 妞渾 5: 涓績(225,343), 杞撮暱(0.00,25.05), 瑙掑害=11.82掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 褰撳墠鑸垫満浣嶇疆: H=535, V=523 [PID璁$畻] 娴嬮噺鍊?110.00, 璇樊=110.00 姣斾緥椤? Kp*error = 0.2*110.00 = 22.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*4.95 = 0.25 PID杈撳嚭: u = 27.25 [PID璁$畻] 娴嬮噺鍊?-114.00, 璇樊=-114.00 姣斾緥椤? Kp*error = 0.2*-114.00 = -22.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-3.83 = -0.19 PID杈撳嚭: u = -27.99 璁$畻鏂颁綅缃? H=526.43, V=513.48 [鑸垫満璁剧疆] 鍘熷鐩爣: H=526.43, V=513.48 浣嶇疆闄愬埗鐢熸晥: H=526, V=513 璁剧疆鑸垫満浣嶇疆: H=526, V=513, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 褰撳墠甯х巼: 16.6 FPS 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.65,133.51), 鏍囧噯宸?(103.08,93.74) 鍦嗗績鍋忓樊: dx=110, dy=-114 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(339,286), 杞撮暱(0.00,117.54), 瑙掑害=114.22掳, 鍦嗗害=1.0000 妞渾 2: 涓績(340,286), 杞撮暱(0.00,95.75), 瑙掑害=93.28掳, 鍦嗗害=1.0000 妞渾 3: 涓績(340,287), 杞撮暱(69.67,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(340,288), 杞撮暱(46.28,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(418.44,137.16), 鏍囧噯宸?(103.23,97.77) 鍦嗗績鍋忓樊: dx=107, dy=-108 褰撳墠鑸垫満浣嶇疆: H=526, V=513 [PID璁$畻] 娴嬮噺鍊?107.00, 璇樊=107.00 姣斾緥椤? Kp*error = 0.2*107.00 = 21.40 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*3.36 = 0.17 PID杈撳嚭: u = 26.57 [PID璁$畻] 娴嬮噺鍊?-108.00, 璇樊=-108.00 姣斾緥椤? Kp*error = 0.2*-108.00 = -21.60 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-1.86 = -0.09 PID杈撳嚭: u = -26.69 璁$畻鏂颁綅缃? H=517.64, V=503.92 [鑸垫満璁剧疆] 鍘熷鐩爣: H=517.64, V=503.92 浣嶇疆闄愬埗鐢熸晥: H=517, V=503 璁剧疆鑸垫満浣嶇疆: H=517, V=503, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 5 涓き鍦?妞渾 1: 涓績(339,285), 杞撮暱(0.00,117.61), 瑙掑害=114.46掳, 鍦嗗害=1.0000 妞渾 2: 涓績(339,285), 杞撮暱(95.05,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(340,287), 杞撮暱(69.75,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(340,287), 杞撮暱(46.30,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(267,450), 杞撮暱(0.00,20.49), 瑙掑害=15.22掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(417.11,143.86), 鏍囧噯宸?(104.45,106.13) 鍦嗗績鍋忓樊: dx=108, dy=-104 褰撳墠鑸垫満浣嶇疆: H=517, V=503 [PID璁$畻] 娴嬮噺鍊?108.00, 璇樊=108.00 姣斾緥椤? Kp*error = 0.2*108.00 = 21.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*2.89 = 0.14 PID杈撳嚭: u = 26.74 [PID璁$畻] 娴嬮噺鍊?-104.00, 璇樊=-104.00 姣斾緥椤? Kp*error = 0.2*-104.00 = -20.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-0.69 = -0.03 PID杈撳嚭: u = -25.83 璁$畻鏂颁綅缃? H=508.59, V=494.21 [鑸垫満璁剧疆] 鍘熷鐩爣: H=508.59, V=494.21 浣嶇疆闄愬埗鐢熸晥: H=508, V=494 璁剧疆鑸垫満浣嶇疆: H=508, V=494, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(339,289), 杞撮暱(48.55,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(58,310), 杞撮暱(23.14,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 褰撳墠鑸垫満浣嶇疆: H=508, V=494 [PID璁$畻] 娴嬮噺鍊?108.00, 璇樊=108.00 姣斾緥椤? Kp*error = 0.2*108.00 = 21.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*2.31 = 0.12 PID杈撳嚭: u = 26.72 [PID璁$畻] 娴嬮噺鍊?-104.00, 璇樊=-104.00 姣斾緥椤? Kp*error = 0.2*-104.00 = -20.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*-0.55 = -0.03 PID杈撳嚭: u = -25.83 璁$畻鏂颁綅缃? H=499.60, V=485.22 [鑸垫満璁剧疆] 鍘熷鐩爣: H=499.60, V=485.22 浣嶇疆闄愬埗鐢熸晥: H=499, V=485 璁剧疆鑸垫満浣嶇疆: H=499, V=485, 绉诲姩鏃堕棿=500ms 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(414.02,146.12), 鏍囧噯宸?(110.31,108.21) 鍦嗗績鍋忓樊: dx=108, dy=-104 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(252,376), 杞撮暱(114.40,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(251,380), 杞撮暱(0.00,98.21), 瑙掑害=94.16掳, 鍦嗗害=1.0000 妞渾 3: 涓績(252,380), 杞撮暱(0.00,72.34), 瑙掑害=69.44掳, 鍦嗗害=1.0000 妞渾 4: 涓績(253,380), 杞撮暱(47.04,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(410.78,152.43), 鏍囧噯宸?(113.56,115.74) 鍦嗗績鍋忓樊: dx=105, dy=-97 褰撳墠鑸垫満浣嶇疆: H=499, V=485 [PID璁$畻] 娴嬮噺鍊?105.00, 璇樊=105.00 姣斾緥椤? Kp*error = 0.2*105.00 = 21.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*1.25 = 0.06 PID杈撳嚭: u = 26.06 [PID璁$畻] 娴嬮噺鍊?-97.00, 璇樊=-97.00 姣斾緥椤? Kp*error = 0.2*-97.00 = -19.40 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*0.96 = 0.05 PID杈撳嚭: u = -24.35 璁$畻鏂颁綅缃? H=490.80, V=476.72 [鑸垫満璁剧疆] 鍘熷鐩爣: H=490.80, V=476.72 浣嶇疆闄愬埗鐢熸晥: H=490, V=476 璁剧疆鑸垫満浣嶇疆: H=490, V=476, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(251,378), 杞撮暱(0.00,98.33), 瑙掑害=94.36掳, 鍦嗗害=1.0000 妞渾 2: 涓績(252,378), 杞撮暱(0.00,72.38), 瑙掑害=69.55掳, 鍦嗗害=1.0000 妞渾 3: 涓績(253,378), 杞撮暱(47.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(409.91,156.69), 鏍囧噯宸?(113.28,120.40) 鍦嗗績鍋忓樊: dx=99, dy=-88 褰撳墠鑸垫満浣嶇疆: H=490, V=476 [PID璁$畻] 娴嬮噺鍊?99.00, 璇樊=99.00 姣斾緥椤? Kp*error = 0.2*99.00 = 19.80 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.20 = -0.01 PID杈撳嚭: u = 24.79 [PID璁$畻] 娴嬮噺鍊?-88.00, 璇樊=-88.00 姣斾緥椤? Kp*error = 0.2*-88.00 = -17.60 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*2.57 = 0.13 PID杈撳嚭: u = -22.47 璁$畻鏂颁綅缃? H=482.20, V=468.36 [鑸垫満璁剧疆] 鍘熷鐩爣: H=482.20, V=468.36 浣嶇疆闄愬埗鐢熸晥: H=482, V=468 璁剧疆鑸垫満浣嶇疆: H=482, V=468, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(251,377), 杞撮暱(115.45,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(251,380), 杞撮暱(0.00,98.50), 瑙掑害=94.52掳, 鍦嗗害=1.0000 妞渾 3: 涓績(252,381), 杞撮暱(0.00,69.62), 瑙掑害=72.59掳, 鍦嗗害=1.0000 妞渾 4: 涓績(253,381), 杞撮暱(47.19,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(407.97,162.92), 鏍囧噯宸?(114.04,126.54) 鍦嗗績鍋忓樊: dx=91, dy=-79 褰撳墠鑸垫満浣嶇疆: H=482, V=468 [PID璁$畻] 娴嬮噺鍊?91.00, 璇樊=91.00 姣斾緥椤? Kp*error = 0.2*91.00 = 18.20 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-1.76 = -0.09 PID杈撳嚭: u = 23.11 [PID璁$畻] 娴嬮噺鍊?-79.00, 璇樊=-79.00 姣斾緥椤? Kp*error = 0.2*-79.00 = -15.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*3.85 = 0.19 PID杈撳嚭: u = -20.61 璁$畻鏂颁綅缃? H=474.73, V=460.99 [鑸垫満璁剧疆] 鍘熷鐩爣: H=474.73, V=460.99 浣嶇疆闄愬埗鐢熸晥: H=474, V=460 璁剧疆鑸垫満浣嶇疆: H=474, V=460, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(250,383), 杞撮暱(0.00,100.64), 瑙掑害=96.10掳, 鍦嗗害=1.0000 妞渾 2: 涓績(252,382), 杞撮暱(93.36,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(251,383), 杞撮暱(0.00,69.56), 瑙掑害=72.74掳, 鍦嗗害=1.0000 妞渾 4: 涓績(252,383), 杞撮暱(47.23,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(404.81,166.83), 鏍囧噯宸?(116.35,130.38) 鍦嗗績鍋忓樊: dx=88, dy=-75 褰撳墠鑸垫満浣嶇疆: H=474, V=460 [PID璁$畻] 娴嬮噺鍊?88.00, 璇樊=88.00 姣斾緥椤? Kp*error = 0.2*88.00 = 17.60 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-2.01 = -0.10 PID杈撳嚭: u = 22.50 [PID璁$畻] 娴嬮噺鍊?-75.00, 璇樊=-75.00 姣斾緥椤? Kp*error = 0.2*-75.00 = -15.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*3.88 = 0.19 PID杈撳嚭: u = -19.81 璁$畻鏂颁綅缃? H=466.92, V=453.26 [鑸垫満璁剧疆] 鍘熷鐩爣: H=466.92, V=453.26 浣嶇疆闄愬埗鐢熸晥: H=466, V=453 璁剧疆鑸垫満浣嶇疆: H=466, V=453, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(250,383), 杞撮暱(94.50,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(249,385), 杞撮暱(0.00,72.84), 瑙掑害=69.47掳, 鍦嗗害=1.0000 妞渾 3: 涓績(249,385), 杞撮暱(0.00,48.25), 瑙掑害=46.14掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(397.23,177.06), 鏍囧噯宸?(117.99,133.62) 鍦嗗績鍋忓樊: dx=80, dy=-65 褰撳墠鑸垫満浣嶇疆: H=466, V=453 [PID璁$畻] 娴嬮噺鍊?80.00, 璇樊=80.00 姣斾緥椤? Kp*error = 0.2*80.00 = 16.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-3.21 = -0.16 PID杈撳嚭: u = 20.84 [PID璁$畻] 娴嬮噺鍊?-65.00, 璇樊=-65.00 姣斾緥椤? Kp*error = 0.2*-65.00 = -13.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*5.11 = 0.26 PID杈撳嚭: u = -17.74 璁$畻鏂颁綅缃? H=459.45, V=446.97 [鑸垫満璁剧疆] 鍘熷鐩爣: H=459.45, V=446.97 浣嶇疆闄愬埗鐢熸晥: H=459, V=446 璁剧疆鑸垫満浣嶇疆: H=459, V=446, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(247,384), 杞撮暱(95.49,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(247,387), 杞撮暱(70.80,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(247,387), 杞撮暱(47.00,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(392.02,185.60), 鏍囧噯宸?(119.03,136.72) 鍦嗗績鍋忓樊: dx=72, dy=-55 褰撳墠鑸垫満浣嶇疆: H=459, V=446 [PID璁$畻] 娴嬮噺鍊?72.00, 璇樊=72.00 姣斾緥椤? Kp*error = 0.2*72.00 = 14.40 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-4.17 = -0.21 PID杈撳嚭: u = 19.19 [PID璁$畻] 娴嬮噺鍊?-55.00, 璇樊=-55.00 姣斾緥椤? Kp*error = 0.2*-55.00 = -11.00 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*6.09 = 0.30 PID杈撳嚭: u = -15.70 璁$畻鏂颁綅缃? H=452.96, V=440.66 [鑸垫満璁剧疆] 鍘熷鐩爣: H=452.96, V=440.66 浣嶇疆闄愬埗鐢熸晥: H=452, V=440 璁剧疆鑸垫満浣嶇疆: H=452, V=440, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(243,389), 杞撮暱(97.22,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(244,391), 杞撮暱(71.78,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 3: 涓績(243,390), 杞撮暱(46.88,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(384.19,196.00), 鏍囧噯宸?(119.96,138.68) 鍦嗗績鍋忓樊: dx=64, dy=-44 褰撳墠鑸垫満浣嶇疆: H=452, V=440 [PID璁$畻] 娴嬮噺鍊?64.00, 璇樊=64.00 姣斾緥椤? Kp*error = 0.2*64.00 = 12.80 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-4.93 = -0.25 PID杈撳嚭: u = 17.55 [PID璁$畻] 娴嬮噺鍊?-44.00, 璇樊=-44.00 姣斾緥椤? Kp*error = 0.2*-44.00 = -8.80 绉垎椤? Ki*integral = 0.01*-500.00 = -5.00 寰垎椤? Kd*derivative = 0.05*7.07 = 0.35 PID杈撳嚭: u = -13.45 璁$畻鏂颁綅缃? H=446.48, V=435.43 [鑸垫満璁剧疆] 鍘熷鐩爣: H=446.48, V=435.43 浣嶇疆闄愬埗鐢熸晥: H=446, V=435 璁剧疆鑸垫満浣嶇疆: H=446, V=435, 绉诲姩鏃堕棿=500ms 根据打印信息调整参数

pid_x = PID(Kp=0.3, Ki=0.001, Kd=0.05, setpoint=0, integral_max=100, deadzone=100) 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(310,388), 杞撮暱(0.00,91.74), 瑙掑害=96.18掳, 鍦嗗害=1.0000 妞渾 2: 涓績(311,389), 杞撮暱(0.00,67.36), 瑙掑害=71.42掳, 鍦嗗害=1.0000 妞渾 3: 涓績(312,389), 杞撮暱(0.00,44.79), 瑙掑害=47.32掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(316.89,389.55), 鏍囧噯宸?(64.29,3.95) 鍦嗗績鍋忓樊: dx=12, dy=148 褰撳墠鑸垫満浣嶇疆: H=420, V=800 [PID璁$畻] 娴嬮噺鍊?12.00, 璇樊=12.00 姝诲尯鐢熸晥: |12.00| < 100, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.3*0.00 = 0.00 绉垎椤? Ki*integral = 0.001*100.00 = 0.10 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 0.10 [PID璁$畻] 娴嬮噺鍊?148.00, 璇樊=148.00 姣斾緥椤? Kp*error = 0.5*148.00 = 74.00 绉垎椤? Ki*integral = 0.002*150.00 = 0.30 寰垎椤? Kd*derivative = 0.1*-0.00 = -0.00 PID杈撳嚭: u = 74.30 璁$畻鏂颁綅缃? H=419.97, V=825.27 [鑸垫満璁剧疆] 鍘熷鐩爣: H=419.97, V=825.27 浣嶇疆闄愬埗鐢熸晥: H=419, V=800 璁剧疆鑸垫満浣嶇疆: H=419, V=800, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 4 涓き鍦?妞渾 1: 涓績(308,388), 杞撮暱(0.00,92.32), 瑙掑害=95.86掳, 鍦嗗害=1.0000 妞渾 2: 涓績(309,389), 杞撮暱(0.00,67.45), 瑙掑害=71.29掳, 鍦嗗害=1.0000 妞渾 3: 涓績(310,389), 杞撮暱(46.02,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 4: 涓績(544,129), 杞撮暱(0.00,21.55), 瑙掑害=56.05掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(320.62,386.78), 鏍囧噯宸?(63.44,26.16) 鍦嗗績鍋忓樊: dx=11, dy=148 褰撳墠鑸垫満浣嶇疆: H=419, V=800 [PID璁$畻] 娴嬮噺鍊?11.00, 璇樊=11.00 姝诲尯鐢熸晥: |11.00| < 100, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.3*0.00 = 0.00 绉垎椤? Ki*integral = 0.001*100.00 = 0.10 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 0.10 [PID璁$畻] 娴嬮噺鍊?148.00, 璇樊=148.00 姣斾緥椤? Kp*error = 0.5*148.00 = 74.00 绉垎椤? Ki*integral = 0.002*150.00 = 0.30 寰垎椤? Kd*derivative = 0.1*-0.00 = -0.00 PID杈撳嚭: u = 74.30 璁$畻鏂颁綅缃? H=418.97, V=825.27 [鑸垫満璁剧疆] 鍘熷鐩爣: H=418.97, V=825.27 浣嶇疆闄愬埗鐢熸晥: H=418, V=800 璁剧疆鑸垫満浣嶇疆: H=418, V=800, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 3 涓き鍦?妞渾 1: 涓績(304,388), 杞撮暱(0.00,91.21), 瑙掑害=95.87掳, 鍦嗗害=1.0000 妞渾 2: 涓績(304,389), 杞撮暱(0.00,67.28), 瑙掑害=71.53掳, 鍦嗗害=1.0000 妞渾 3: 涓績(305,389), 杞撮暱(0.00,44.72), 瑙掑害=47.38掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(319.50,386.77), 鏍囧噯宸?(63.38,26.16) 鍦嗗績鍋忓樊: dx=10, dy=148 褰撳墠鑸垫満浣嶇疆: H=418, V=800 [PID璁$畻] 娴嬮噺鍊?10.00, 璇樊=10.00 姝诲尯鐢熸晥: |10.00| < 100, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.3*0.00 = 0.00 绉垎椤? Ki*integral = 0.001*100.00 = 0.10 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 0.10 [PID璁$畻] 娴嬮噺鍊?148.00, 璇樊=148.00 姣斾緥椤? Kp*error = 0.5*148.00 = 74.00 绉垎椤? Ki*integral = 0.002*150.00 = 0.30 寰垎椤? Kd*derivative = 0.1*-0.00 = -0.00 PID杈撳嚭: u = 74.30 璁$畻鏂颁綅缃? H=417.97, V=825.27 [鑸垫満璁剧疆] 鍘熷鐩爣: H=417.97, V=825.27 浣嶇疆闄愬埗鐢熸晥: H=417, V=800 璁剧疆鑸垫満浣嶇疆: H=417, V=800, 绉诲姩鏃堕棿=500ms 褰撳墠甯х巼: 29.9 FPS 閫€鍑虹▼搴? 鑸垫満褰掍腑 绋嬪簭缁撴潫

妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(325,254), 杞撮暱(116.50,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(321,251), 杞撮暱(0.00,89.86), 瑙掑害=95.67掳, 鍦嗗害=1.0000 妞渾 3: 涓績(322,252), 杞撮暱(0.00,66.71), 瑙掑害=70.42掳, 鍦嗗害=1.0000 妞渾 4: 涓績(323,252), 杞撮暱(45.54,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(323,253), 杞撮暱(23.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 6: 涓績(249,426), 杞撮暱(0.00,22.33), 瑙掑害=16.05掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(351.83,231.40), 鏍囧噯宸?(111.44,95.69) 鍦嗗績鍋忓樊: dx=47, dy=-23 褰撳墠鑸垫満浣嶇疆: H=419, V=439 [PID璁$畻] 娴嬮噺鍊?47.00, 璇樊=47.00 姣斾緥椤? Kp*error = 0.15*47.00 = 7.05 绉垎椤? Ki*integral = 0.005*300.00 = 1.50 寰垎椤? Kd*derivative = 0.05*-3.49 = -0.17 PID杈撳嚭: u = 8.38 [PID璁$畻] 娴嬮噺鍊?-23.00, 璇樊=-23.00 姣斾緥椤? Kp*error = 0.18*-23.00 = -4.14 绉垎椤? Ki*integral = 0.008*-300.00 = -2.40 寰垎椤? Kd*derivative = 0.1*3.04 = 0.30 PID杈撳嚭: u = -6.24 璁$畻鏂颁綅缃? H=416.37, V=436.88 [鑸垫満璁剧疆] 鍘熷鐩爣: H=416.37, V=436.88 浣嶇疆闄愬埗鐢熸晥: H=416, V=436 璁剧疆鑸垫満浣嶇疆: H=416, V=436, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(324,255), 杞撮暱(118.73,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(321,251), 杞撮暱(0.00,90.88), 瑙掑害=95.54掳, 鍦嗗害=1.0000 妞渾 3: 涓績(322,252), 杞撮暱(0.00,66.59), 瑙掑害=70.34掳, 鍦嗗害=1.0000 妞渾 4: 涓績(323,253), 杞撮暱(45.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(323,253), 杞撮暱(23.40,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 6: 涓績(248,426), 杞撮暱(0.00,22.42), 瑙掑害=16.28掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(347.00,236.18), 鏍囧噯宸?(109.55,95.21) 鍦嗗績鍋忓樊: dx=42, dy=-18 褰撳墠鑸垫満浣嶇疆: H=416, V=436 [PID璁$畻] 娴嬮噺鍊?42.00, 璇樊=42.00 姣斾緥椤? Kp*error = 0.15*42.00 = 6.30 绉垎椤? Ki*integral = 0.005*300.00 = 1.50 寰垎椤? Kd*derivative = 0.05*-3.79 = -0.19 PID杈撳嚭: u = 7.61 [PID璁$畻] 娴嬮噺鍊?-18.00, 璇樊=-18.00 姣斾緥椤? Kp*error = 0.18*-18.00 = -3.24 绉垎椤? Ki*integral = 0.008*-300.00 = -2.40 寰垎椤? Kd*derivative = 0.1*3.43 = 0.34 PID杈撳嚭: u = -5.30 璁$畻鏂颁綅缃? H=413.61, V=434.20 [鑸垫満璁剧疆] 鍘熷鐩爣: H=413.61, V=434.20 浣嶇疆闄愬埗鐢熸晥: H=413, V=434 璁剧疆鑸垫満浣嶇疆: H=413, V=434, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 6 涓き鍦?妞渾 1: 涓績(318,251), 杞撮暱(0.00,110.58), 瑙掑害=117.37掳, 鍦嗗害=1.0000 妞渾 2: 涓績(319,252), 杞撮暱(0.00,90.27), 瑙掑害=95.65掳, 鍦嗗害=1.0000 妞渾 3: 涓績(321,253), 杞撮暱(0.00,66.54), 瑙掑害=70.47掳, 鍦嗗害=1.0000 妞渾 4: 涓績(321,253), 杞撮暱(45.50,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(322,253), 杞撮暱(23.51,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 6: 涓績(248,426), 杞撮暱(0.00,20.99), 瑙掑害=15.81掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(337.29,243.01), 鏍囧噯宸?(104.64,94.44) 鍦嗗績鍋忓樊: dx=32, dy=-11 褰撳墠鑸垫満浣嶇疆: H=413, V=434 [PID璁$畻] 娴嬮噺鍊?32.00, 璇樊=32.00 姣斾緥椤? Kp*error = 0.15*32.00 = 4.80 绉垎椤? Ki*integral = 0.005*300.00 = 1.50 寰垎椤? Kd*derivative = 0.05*-5.03 = -0.25 PID杈撳嚭: u = 6.05 [PID璁$畻] 娴嬮噺鍊?-11.00, 璇樊=-11.00 姣斾緥椤? Kp*error = 0.18*-11.00 = -1.98 绉垎椤? Ki*integral = 0.008*-300.00 = -2.40 寰垎椤? Kd*derivative = 0.1*4.15 = 0.41 PID杈撳嚭: u = -3.97 璁$畻鏂颁綅缃? H=411.10, V=432.65 [鑸垫満璁剧疆] 鍘熷鐩爣: H=411.10, V=432.65 浣嶇疆闄愬埗鐢熸晥: H=411, V=432 璁剧疆鑸垫満浣嶇疆: H=411, V=432, 绉诲姩鏃堕棿=500ms 閫€鍑虹▼搴? 鑸垫満褰掍腑 绋嬪簭缁撴潫

[鑸垫満璁剧疆] 鍘熷鐩爣: H=402.66, V=504.28 浣嶇疆闄愬埗鐢熸晥: H=402, V=504 璁剧疆鑸垫満浣嶇疆: H=402, V=504, 绉诲姩鏃堕棿=500ms 妫€娴嬪埌 7 涓き鍦?妞渾 1: 涓績(228,249), 杞撮暱(118.57,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(227,246), 杞撮暱(0.00,109.11), 瑙掑害=116.50掳, 鍦嗗害=1.0000 妞渾 3: 涓績(229,247), 杞撮暱(0.00,94.48), 瑙掑害=87.77掳, 鍦嗗害=1.0000 妞渾 4: 涓績(228,249), 杞撮暱(69.44,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 5: 涓績(231,248), 杞撮暱(0.00,68.96), 瑙掑害=64.18掳, 鍦嗗害=1.0000 妞渾 6: 涓績(232,248), 杞撮暱(48.34,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 7: 涓績(232,248), 杞撮暱(43.29,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=100, 骞冲潎鍊?(304.78,293.16), 鏍囧噯宸?(92.18,48.94) 鍦嗗績鍋忓樊: dx=-13, dy=52 褰撳墠鑸垫満浣嶇疆: H=402, V=504 [PID璁$畻] 娴嬮噺鍊?-13.00, 璇樊=-13.00 姣斾緥椤? Kp*error = 0.15*-13.00 = -1.95 绉垎椤? Ki*integral = 0.005*287.00 = 1.44 寰垎椤? Kd*derivative = 0.05*-9.17 = -0.46 PID杈撳嚭: u = -0.97 [PID璁$畻] 娴嬮噺鍊?52.00, 璇樊=52.00 姣斾緥椤? Kp*error = 0.18*52.00 = 9.36 绉垎椤? Ki*integral = 0.008*300.00 = 2.40 寰垎椤? Kd*derivative = 0.1*0.05 = 0.00 PID杈撳嚭: u = 11.76 璁$畻鏂颁綅缃? H=402.31, V=508.00 [鑸垫満璁剧疆] 鍘熷鐩爣: H=402.31, V=508.00 浣嶇疆闄愬埗鐢熸晥: H=402, V=508 璁剧疆鑸垫満浣嶇疆: H=402, V=508, 绉诲姩鏃堕棿=500ms 閫€鍑虹▼搴? 鑸垫満褰掍腑 绋嬪簭缁撴潫根据打印信息调整参数、

璇诲彇琛? [2025-06-03 14:14:27.360]# RECV HEX> >> 鍙戠幇RECV鍧?#5163 鏃堕棿鎴宠: [2025-06-03 14:14:27.360]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 C1 F6 -- 甯ф暟鎹? 02 10 00 00 00 10 C1 F6 缁熻鍊? hex_count=8 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?8 璇诲彇琛? 璇诲彇琛? [2025-06-03 14:14:27.903]# RECV HEX> >> 鍙戠幇RECV鍧?#5164 鏃堕棿鎴宠: [2025-06-03 14:14:27.903]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 20 55 55 00 00 00 00 03 E7 0D 6C 06 A8 1E 51 00 00 00 00 00 00 0C 06 0B AD 02 EE 02 E1 00 00 00 00 DB 58 -- 甯ф暟鎹? 02 10 00 00 00 10 20 55 55 00 00 00 00 03 E7 0D 6C 06 A8 1E 51 00 00 00 00 00 00 0C 06 0B AD 02 EE 02 E1 00 00 00 00 DB 58 缁熻鍊? hex_count=41 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?41 璇诲彇琛? 璇诲彇琛? [2025-06-03 14:14:28.043]# RECV HEX> >> 鍙戠幇RECV鍧?#5165 鏃堕棿鎴宠: [2025-06-03 14:14:28.043]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 C1 F6 -- 甯ф暟鎹? 02 10 00 00 00 10 C1 F6 缁熻鍊? hex_count=8 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?8 璇诲彇琛? 璇诲彇琛? [2025-06-03 14:14:28.613]# RECV HEX> >> 鍙戠幇RECV鍧?#5166 鏃堕棿鎴宠: [2025-06-03 14:14:28.613]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 20 55 55 00 00 00 00 03 E7 0D 6C 06 A8 1E 51 00 00 00 00 00 00 0C 06 0B AD 02 EE 02 E1 00 00 00 00 DB 58 -- 甯ф暟鎹? 02 10 00 00 00 10 20 55 55 00 00 00 00 03 E7 0D 6C 06 A8 1E 51 00 00 00 00 00 00 0C 06 0B AD 02 EE 02 E1 00 00 00 00 DB 58 缁熻鍊? hex_count=41 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?41 璇诲彇琛? 璇诲彇琛? [2025-06-03 14:14:28.753]# RECV HEX> >> 鍙戠幇RECV鍧?#5167 鏃堕棿鎴宠: [2025-06-03 14:14:28.753]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 C1 F6 -- 甯ф暟鎹? 02 10 00 00 00 10 C1 F6 缁熻鍊? hex_count=8 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?8 璇诲彇琛? 璇诲彇琛? [2025-06-03 14:14:29.314]# RECV HEX> >> 鍙戠幇RECV鍧?#5168 鏃堕棿鎴宠: [2025-06-03 14:14:29.314]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 20 55 55 00 00 00 00 03 E7 0D 6C 06 A8 1E 51 00 00 00 00 00 00 0C 06 0B AD 02 EE 02 E1 00 00 00 00 DB 58 -- 甯ф暟鎹? 02 10 00 00 00 10 20 55 55 00 00 00 00 03 E7 0D 6C 06 A8 1E 51 00 00 00 00 00 00 0C 06 0B AD 02 EE 02 E1 00 00 00 00 DB 58 缁熻鍊? hex_count=41 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?41 璇诲彇琛? 璇诲彇琛? [2025-06-03 14:14:29.440]# RECV HEX> >> 鍙戠幇RECV鍧?#5169 鏃堕棿鎴宠: [2025-06-03 14:14:29.440]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 C1 F6 -- 甯ф暟鎹? 02 10 00 00 00 10 C1 F6 缁熻鍊? hex_count=8 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?8 璇诲彇琛? 璇诲彇琛? [2025-06-03 14:14:29.999]# RECV HEX> >> 鍙戠幇RECV鍧?#5170 鏃堕棿鎴宠: [2025-06-03 14:14:29.999]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 20 55 55 00 00 00 00 03 E7 0D 6C 06 A8 1E 51 00 00 00 00 00 00 0C 06 0B AD 02 EE 02 E1 00 00 00 00 DB 58 -- 甯ф暟鎹? 02 10 00 00 00 10 20 55 55 00 00 00 00 03 E7 0D 6C 06 A8 1E 51 00 00 00 00 00 00 0C 06 0B AD 02 EE 02 E1 00 00 00 00 DB 58 缁熻鍊? hex_count=41 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?41 璇诲彇琛? 璇诲彇琛? [2025-06-03 14:14:30.154]# RECV HEX> >> 鍙戠幇RECV鍧?#5171 鏃堕棿鎴宠: [2025-06-03 14:14:30.154]# RECV HEX> 璇诲彇琛? 02 10 00 00 00 10 C1 F6 -- 甯ф暟鎹? 02 10 00 00 00 10 C1 F6 缁熻鍊? hex_count=8 (鏈熸湜: 7) 闀垮害涓嶅尮閰? 鏈熸湜 7锛屽疄闄?8 ==== 澶勭悊瀹屾垚 ==== 鎵弿RECV鍧? 5171 鍖归厤甯ф暟: 0 杈撳嚭鏂囦欢: extracted_timestamps.txt [璀﹀憡] 娌℃湁鎵惧埌鍖归厤鐨勫抚鏁版嵁锛屽彲鑳藉師鍥? 1. 鏃ュ織涓棤鐩爣甯ф暟鎹? 02 10 00 00 00 10 20 2. 甯уぇ灏忎笉姝g‘(褰撳墠璁剧疆: 7瀛楄妭) 3. 鏃ュ織鏍煎紡涓嶇鍚堥鏈? PS D:\Desktop\4H测试记录>

输出是 鏁版嵁闆嗘憳瑕�: 鏈堢閲� 鍑虹鐜� 绌虹疆鐜� GDP澧為�� 鏂板叴浜т笟鍗犳瘮 鏂板渚涘簲 浜烘墠鍑�娴佸叆 绉熼噾鏀剁泭鎸囨暟 渚涢渶骞宠 鎸囨暟 count 16.000000 16.000000 16.000000 16.000000 16.000000 16.00000 16.000000 16.000000 16.000000 mean 129.750000 81.562500 17.437500 5.618750 31.531250 99.80625 1.681250 105.795125 7.832530 std 56.414537 7.869339 9.291206 1.250716 8.877666 48.87634 1.297803 47.612849 4.307680 min 40.000000 61.800000 5.400000 3.800000 18.900000 35.70000 -0.500000 33.520000 1.961165 25% 84.750000 76.825000 10.050000 4.475000 22.725000 59.85000 0.600000 71.872500 4.876060 50% 131.000000 83.950000 13.900000 5.850000 31.050000 89.95000 2.200000 100.906500 7.601001 75% 172.750000 87.075000 27.625000 6.700000 39.000000 145.77500 2.650000 146.284250 9.242916 max 234.000000 90.000000 32.600000 7.400000 44.100000 174.20000 3.400000 193.752000 18.753247 ================================================== 鍥炲綊鍒嗘瀽缁撴灉 ================================================== 绾挎�у洖褰掔粨鏋滄憳瑕�: OLS Regression Results ============================================================================== Dep. Variable: 鍑虹鐜� R-squared: 0.000 Model: OLS Adj. R-squared: -0.071 Method: Least Squares F-statistic: 0.0008390 Date: 鍛ㄤ竴, 09 6鏈� 2025 Prob (F-statistic): 0.977 Time: 01:03:07 Log-Likelihood: -55.194 No. Observations: 16 AIC: 114.4 Df Residuals: 14 BIC: 115.9 Df Model: 1 Covariance Type: nonrobust ============================================================================== coef std err t P>|t| [0.025 0.975] ------------------------------------------------------------------------------ const 81.7026 5.248 15.568 0.000 70.446 92.959 鏈堢閲� -0.0011 0.037 -0.029 0.977 -0.081 0.079 ============================================================================== Omnibus: 5.039 Durbin-Watson: 2.468 Prob(Omnibus): 0.081 Jarque-Bera (JB): 2.835 Skew: -1.009 Prob(JB): 0.242 Kurtosis: 3.428 Cond. No. 363. ============================================================================== Notes: [1] Standard Errors assume that the covariance matrix of the errors is correctly specified. 澶氶」寮忓洖褰扲虏鍊�: 0.0722 宸蹭繚瀛樺洖褰掑垎鏋愮粨鏋滃浘鍍� ================================================== 鑱氱被鍒嗘瀽缁撴灉 ================================================== 宸蹭繚瀛樿仛绫诲垎鏋愮粨鏋滃浘鍍� ================================================== 鍏宠仈瑙勫垯鍒嗘瀽缁撴灉 ================================================== D:\conda\Lib\site-packages\mlxtend\frequent_patterns\fpcommon.py:109: DeprecationWarning: DataFrames with non-bool types result in worse computationalperformance and their support might be discontinued in the future.Please use a DataFrame with bool type warnings.warn( 寮哄叧鑱旇鍒�: 瑙勫垯 support confidence lift {'楂�'} 鈫� {'浣�'} 0.3125 0.833333 2.666667 {'楂�', '浼�'} 鈫� {'浣�'} 0.3125 0.833333 2.666667 {'楂�'} 鈫� {'浣�', '浼�'} 0.3125 0.833333 2.666667 {'浣�'} 鈫� {'楂�'} 0.3125 1.000000 2.666667 {'浣�', '浼�'} 鈫� {'楂�'} 0.3125 1.000000 2.666667 {'浣�'} 鈫� {'楂�', '浼�'} 0.3125 1.000000 2.666667 宸蹭繚瀛樺叧鑱旇鍒欏垎鏋愬浘鍍� ================================================== 涓氬姟绛栫暐寤鸿 ================================================== 鍚勫煄甯傜瓥鐣ュ缓璁�: 鍩庡競 鏈堢閲� 鍑虹鐜� 绌虹疆鐜� 绛栫暐寤鸿 鍖椾含 234.0 82.8 29.1 椋庨櫓鎺у埗锛氱閲戣皟鏁�(褰撳墠29.1%绌虹疆鐜�)锛屾帰绱㈠叡浜姙鍏紝鎺ㄥ嚭鍘诲寲浼樻儬鏀跨瓥锛屾彁鍗囪祫浜у洖鎶ョ巼 涓婃捣 171.0 77.3 13.1 涓瓑甯傚満瀹氫綅锛氫紭鍖栫鎴风粨鏋�(鍑虹鐜囷細77.3%)锛屾彁鍗囨湇鍔℃按骞� 骞垮窞 105.0 74.4 10.2 楂樼甯傚満瀹氫綅锛氱淮鎸侀珮浠风瓥鐣�(105.0鍏�/骞崇背)锛屽惛寮曞ご閮ㄧ鎶�浼佷笟 娣卞湷 196.0 77.0 27.6 椋庨櫓鎺у埗锛氱閲戣皟鏁�(褰撳墠27.6%绌虹疆鐜�)锛屾帰绱㈠叡浜姙鍏紝鎺ㄥ嚭鍘诲寲浼樻儬鏀跨瓥 鏉窞 86.0 85.5 32.6 椋庨櫓鎺у埗锛氱閲戣皟鏁�(褰撳墠32.6%绌虹疆鐜�)锛屾帰绱㈠叡浜姙鍏紝鎺ㄥ嚭鍘诲寲浼樻儬鏀跨瓥锛屾彁鍗囪祫浜у洖鎶ョ巼 鍗椾含 178.0 86.5 9.6 椋庨櫓鎺у埗锛氱閲戣皟鏁�(褰撳墠9.6%绌虹疆鐜�)锛屾帰绱㈠叡浜姙鍏紝鎻愬崌璧勪骇鍥炴姤鐜� 鎴愰兘 161.0 89.9 18.8 椋庨櫓鎺у埗锛氱閲戣皟鏁�(褰撳墠18.8%绌虹疆鐜�)锛屾帰绱㈠叡浜姙鍏紝鎻愬崌璧勪骇鍥炴姤鐜� 姝︽眽 81.0 61.8 8.1 椋庨櫓鎺у埗锛氱閲戣皟鏁�(褰撳墠8.1%绌虹疆鐜�)锛屾帰绱㈠叡浜姙鍏� 澶╂触 94.0 84.1 5.4 涓瓑甯傚満瀹氫綅锛氫紭鍖栫鎴风粨鏋�(鍑虹鐜囷細84.1%)锛屾彁鍗囨湇鍔℃按骞筹紝鎻愬崌璧勪骇鍥炴姤鐜� 閲嶅簡 40.0 83.8 19.5 楂樼甯傚満瀹氫綅锛氱淮鎸侀珮浠风瓥鐣�(40.0鍏�/骞崇背)锛屽惛寮曞ご閮ㄧ鎶�浼佷笟锛屾彁鍗囪祫浜у洖鎶ョ巼 瑗垮畨 132.0 76.3 27.7 涓瓑甯傚満瀹氫綅锛氫紭鍖栫鎴风粨鏋�(鍑虹鐜囷細76.3%)锛屾彁鍗囨湇鍔℃按骞筹紝鎺ㄥ嚭鍘诲寲浼樻儬鏀跨瓥 鑻忓窞 130.0 88.8 12.4 椋庨櫓鎺у埗锛氱閲戣皟鏁�(褰撳墠12.4%绌虹疆鐜�)锛屾帰绱㈠叡浜姙鍏紝鎻愬崌璧勪骇鍥炴姤鐜� 闀挎矙 197.0 85.9 31.2 椋庨櫓鎺у埗锛氱閲戣皟鏁�(褰撳墠31.2%绌虹疆鐜�)锛屾帰绱㈠叡浜姙鍏紝鎺ㄥ嚭鍘诲寲浼樻儬鏀跨瓥锛屾彁鍗囪祫浜у洖鎶ョ巼 闈掑矝 55.0 90.0 10.3 楂樼甯傚満瀹氫綅锛氱淮鎸侀珮浠风瓥鐣�(55.0鍏�/骞崇背)锛屽惛寮曞ご閮ㄧ鎶�浼佷笟锛屾彁鍗囪祫浜у洖鎶ョ巼 閮戝窞 141.0 71.7 8.7 涓瓑甯傚満瀹氫綅锛氫紭鍖栫鎴风粨鏋�(鍑虹鐜囷細71.7%)锛屾彁鍗囨湇鍔℃按骞� 鍚堣偉 75.0 89.2 14.7 涓瓑甯傚満瀹氫綅锛氫紭鍖栫鎴风粨鏋�(鍑虹鐜囷細89.2%)锛屾彁鍗囨湇鍔℃按骞筹紝鎻愬崌璧勪骇鍥炴姤鐜� 姝e湪淇濆瓨缁撴灉... 鍒嗘瀽瀹屾垚! 缁撴灉宸蹭繚瀛樺埌'鍐欏瓧妤煎競鍦哄垎鏋愮粨鏋�.xlsx'鏂囦欢 这样的怎么解决

timescale 1ns / 1ps ////////////////////////////////////////////////////////////////////////////////// // Company: // Engineer: // // Create Date: 2021/08/09 20:50:42 // Design Name: // Module Name: LFM_comp // Project Name: // Target Devices: // Tool Versions: // Description: // // Dependencies: // // Revision: // Revision 0.01 - File Created // Additional Comments: // ////////////////////////////////////////////////////////////////////////////////// module LFM_comp( input wire aclk_120m , input wire aclk_240m , input wire aresten , input wire signed [15:0] signal_in , output wire signed [31:0] compress_result_i , output wire signed [31:0] compress_result_q , output wire signed [31:0] compress_result , output wire signed [23:0] DDC_out_lp_i , output wire signed [23:0] DDC_out_lp_q ); //////////////////////////////////////////////// //涓嬪彉棰� //////////////////////////////////////////////// reg [1:0] count=1'b0; wire signed [15:0] AD_in_p; wire signed [15:0] AD_in_n; reg signed [15:0] DDC_out_i; reg signed [15:0] DDC_out_q; assign AD_in_p =signal_in ; assign AD_in_n =(~signal_in)+16'd1; always @(posedge aclk_120m or negedge aresten) begin//鐢变簬閲囨牱棰戠巼鎻愬墠璁剧疆涓轰腑棰戠殑浜斿垎涔嬪洓 鏁呬笅鍙橀鏃朵笌杈撳叆淇″彿鐩镐箻鐨刢os鍒嗛噺鏄� 1 0 -1 0鐨勫惊鐜簭鍒� sin鍒嗛噺鏄�0 -1 0 1鐨勫惊鐜簭鍒� if(aresten==1'b0)begin count<=1'b0; end else begin case(count) 2'd0: begin DDC_out_i<=AD_in_p;DDC_out_q<=16'd0; count<=count+1'b1;end 2'd1: begin DDC_out_i<=16'd0; DDC_out_q<=AD_in_n;count<=count+1'b1;end 2'd2: begin DDC_out_i<=AD_in_n;DDC_out_q<=16'd0;count<=count+1'b1;end 2'd3: begin DDC_out_i<=16'd0 ;DDC_out_q<=AD_in_p;count<=1'b0;end default: begin DDC_out_i<=16'd0 ;DDC_out_q<=16'd0;end endcase end end //////////////////////////////////////////////// //浣庨�氭护娉� //////////////////////////////////////////////// //wire [23:0] DDC_out_lp_i; //wire [23:0] DDC_out_lp_q; reg s_valid; wire si_axis_data_tready,mi_axis_data_tvalid; wire sq_axis_data_tready,mq_axis_data_tvalid; always @(posedge aclk_240m or negedge aresten) begin //瀹炵幇浜屽垎棰� 120Mhz閲囬泦淇″彿 if(aresten==1'b0)begin s_valid<=1'b0; end else begin s_valid<=~s_valid; end end lpm_filter lpm_filter_i ( .aclk(aclk_240m), // input wire aclk .s_axis_data_tvalid(s_valid), // input wire s_axis_data_tvalid .s_axis_data_tready(si_axis_data_tready), // output wire s_axis_data_tready .s_axis_data_tdata(DDC_out_i), // input wire [15 : 0] s_axis_data_tdata .m_axis_data_tvalid(mi_axis_data_tvalid), // output wire m_axis_data_tvalid .m_axis_data_tdata(DDC_out_lp_i) // output wire [23 : 0] m_axis_data_tdata ); lpm_filter lpm_filter_q ( .aclk(aclk_240m), // input wire aclk .s_axis_data_tvalid(s_valid), // input wire s_axis_data_tvalid .s_axis_data_tready(sq_axis_data_tready), // output wire s_axis_data_tready .s_axis_data_tdata(DDC_out_q), // input wire [15 : 0] s_axis_data_tdata .m_axis_data_tvalid(mq_axis_data_tvalid), // output wire m_axis_data_tvalid .m_axis_data_tdata(DDC_out_lp_q) // output wire [23 : 0] m_axis_data_tdata ); //////////////////////////////////////////////// //鑴夊啿鍘嬬缉 //////////////////////////////////////////////// reg mi_axis_data_tvalid_decimatim=1'b0; reg mq_axis_data_tvalid_decimatim=1'b0; reg si_en=1'b0; reg sq_en=1'b0; //涓ゅ�嶆娊鍙� always @(posedge aclk_240m or negedge aresten) begin if(aresten==1'b0)begin mi_axis_data_tvalid_decimatim<=1'b0; mq_axis_data_tvalid_decimatim<=1'b0; si_en<=1'b0; sq_en<=1'b0; end else begin if(mi_axis_data_tvalid)begin mi_axis_data_tvalid_decimatim<=~mi_axis_data_tvalid_decimatim; if(mi_axis_data_tvalid_decimatim)begin si_en<=1'b1; end end if(mq_axis_data_tvalid)begin mq_axis_data_tvalid_decimatim<=~mq_axis_data_tvalid_decimatim; if(mi_axis_data_tvalid_decimatim)begin sq_en<=1'b1; end end end if(si_en) si_en<=1'b0; if(sq_en) sq_en<=1'b0; end //compress_sihi wire signed [31:0] compress_sihi; wire compress_hi_si_data_tready; wire compress_hi_mi_data_tvalid; compress_hi compress_hi_1 ( .aclk(aclk_240m), // input wire aclk .s_axis_data_tvalid(si_en), // input wire s_axis_data_tvalid .s_axis_data_tready(compress_hi_si_data_tready), // output wire s_axis_data_tready .s_axis_data_tdata(DDC_out_lp_i), // input wire [15 : 0] s_axis_data_tdata .m_axis_data_tvalid(compress_hi_mi_data_tvalid), // output wire m_axis_data_tvalid .m_axis_data_tdata(compress_sihi) // output wire [31 : 0] m_axis_data_tdata ); //compress_sqhq wire signed [31:0] compress_sqhq; wire compress_hq_sq_data_tready; wire compress_hq_mq_data_tvalid; compress_hq compress_hq_1 ( .aclk(aclk_240m), // input wire aclk .s_axis_data_tvalid(sq_en), // input wire s_axis_data_tvalid .s_axis_data_tready(compress_hq_sq_data_tready), // output wire s_axis_data_tready .s_axis_data_tdata(DDC_out_lp_q), // input wire [15 : 0] s_axis_data_tdata .m_axis_data_tvalid(compress_hq_mq_data_tvalid), // output wire m_axis_data_tvalid .m_axis_data_tdata(compress_sqhq) // output wire [31 : 0] m_axis_data_tdata ); //compress_sihq wire signed [31:0] compress_sihq; wire compress_hq_si_data_tready; wire compress_hq_mi_data_tvalid; compress_hq compress_hq_2 ( .aclk(aclk_240m), // input wire aclk .s_axis_data_tvalid(si_en), // input wire s_axis_data_tvalid .s_axis_data_tready(compress_hq_si_data_tready), // output wire s_axis_data_tready .s_axis_data_tdata(DDC_out_lp_i), // input wire [23 : 0] s_axis_data_tdata .m_axis_data_tvalid(compress_hq_mi_data_tvalid), // output wire m_axis_data_tvalid .m_axis_data_tdata(compress_sihq) // output wire [31 : 0] m_axis_data_tdata ); //compress_sqhi wire signed [31:0] compress_sqhi; wire compress_hi_sq_data_tready; wire compress_hi_mq_data_tvalid; compress_hi compress_hi_2 ( .aclk(aclk_240m), // input wire aclk .s_axis_data_tvalid(sq_en), // input wire s_axis_data_tvalid .s_axis_data_tready(compress_hi_sq_data_tready), // output wire s_axis_data_tready .s_axis_data_tdata(DDC_out_lp_q), // input wire [23 : 0] s_axis_data_tdata .m_axis_data_tvalid(compress_hi_mq_data_tvalid), // output wire m_axis_data_tvalid .m_axis_data_tdata(compress_sqhi) // output wire [31 : 0] m_axis_data_tdata ); //鍙栨ā wire compress_result_en; assign compress_result_i=compress_sihi-compress_sqhq; assign compress_result_q=compress_sihq+compress_sqhi; assign compress_result_en=compress_hq_mq_data_tvalid; reg s_mod_axis_cartesian_tvalid=1'b1; wire m_mod_axis_dout_tvalid; wire signed [31:0] compress_result_real; wire signed [31:0] compress_result_phase; cordic_0 cordic_0 ( .aclk(aclk_240m), // input wire aclk .s_axis_cartesian_tvalid(s_mod_axis_cartesian_tvalid), // input wire s_axis_cartesian_tvalid .s_axis_cartesian_tdata({compress_result_q,compress_result_i}), // input wire [63 : 0] s_axis_cartesian_tdata .m_axis_dout_tvalid(m_mod_axis_dout_tvalid), // output wire m_axis_dout_tvalid .m_axis_dout_tdata({compress_result_phase,compress_result_real}) // output wire [63 : 0] m_axis_dout_tdata ); assign compress_result= compress_result_real; endmodule

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