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stm32的pid温控超调问题
请问我用stm32f103c8t6做主控,通过pwn输出控制继电器加热1100w卤素管,pwm为1khz,pid周期为1s,为什么我的d参数无论加多大都不能减低超调?这个是大滞后系统[img]data:image/png;base64,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***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[/img]
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