更新Draw_PID.py, PID_control.py

Draw_PID.py

+
+import numpy as np	
+import matplotlib
+import matplotlib.pyplot as plt
+from matplotlib import style
+
+fig, axes = plt.subplots()
+a = np.linspace(0,240,240)
+b = np.linspace(160,161,240)
+a1 = np.linspace(0,240,240)
+b1 = np.linspace(200,201,240)
+x = np.linspace(0,240,240)
+y1 = [0]
+target = 160
+t_error = 0
+d_error = 0
+y = 0
+
+Kp = 0.07
+Ki = 0.003 #设置PID参数
+Kd = 0.5
+
+
+def draw_PID():
+    global fig,axes, a, b, a1, b1, x, y1, target, d_error, y, Kp, Ki, Kd, t_error
+    for i in range(len(x)-1):
+        error = target - y
+        y = y + error*Kp
+        
+        t_error = t_error + error
+        y = y + t_error*Ki
+
+        if i != 0:
+            y = y + (error-d_error)*Kd
+
+        #y = y - 3
+        y1.append(y)
+        d_error = error
+    axes.plot(a1, b1, color='gray', label='top')
+    axes.plot(a, b, color='skyblue', label='Target')
+    axes.plot(x, y1, color='lightcoral', label='Output')
+    axes.set(ylabel='Y Ax', xlabel='X Ax', title='PID_control (P I D)',
+            ylim=[-2,320], xlim=[-2,240])
+    axes.legend()
+
+    plt.show()
+
+    fig, axes = plt.subplots()
+    y1 = [0]
+    y = 0      #初始化
+
+if __name__ =="__main__":       #__main__为主程序脚本文件名，__name__为该程序文件名
+    draw_PID()                  #当主程序为当前程序文件时，执行该段代码

PID_control.py

+#from Draw_PID import draw_PID
+import Draw_PID
+
+import tkinter as tk  
+
+
+def function():
+    #print(e1.get(),e2.get())
+    Draw_PID.Kp = eval(e1.get())
+    Draw_PID.Ki = eval(e2.get())
+    Draw_PID.Kd = eval(e3.get())
+    Draw_PID.draw_PID()
+
+def e1press1(self):
+    e1.config(bg='skyblue')
+def e1press2(self):
+    e1.config(bg='white')
+def e2press1(self):
+    e2.config(bg='skyblue')
+def e2press2(self):
+    e2.config(bg='white')
+def e3press1(self):
+    e3.config(bg='skyblue')
+def e3press2(self):
+    e3.config(bg='white')
+
+
+window = tk.Tk()
+
+window.title('PID_control')
+ 
+window.geometry('500x300')  # 这里的乘是小x
+
+# 第4步，在图形界面上设定标签
+var = tk.StringVar()    # 将label标签的内容设置为字符类型，用var来接收hit_me函数的传出内容用以显示在标签上
+var.set('white')
+bgcolor = 'white'
+l1 = tk.Label(window, text='Kp:', 
+                font=('Arial Black',12),
+                width=3, height=1)
+l1.place(relx=0.25, rely=0.03)
+
+l2 = tk.Label(window, text='Ki:', 
+                font=('Arial Black',12),
+                width=3, height=1)
+l2.place(relx=0.25, rely=0.13)
+
+l3 = tk.Label(window, text='Kd:', 
+                font=('Arial Black',12),
+                width=3, height=1)
+l3.place(relx=0.25, rely=0.23)
+
+e1 = tk.Entry(window, show = None, bg='white',font=('Arial',10))#显示成明文形式
+e1.place(relx=0.35,rely=0.05)
+e1.bind('<Enter>',e1press1)
+e1.bind('<Leave>',e1press2)
+
+
+e2 = tk.Entry(window, show = None, bg='white', font=('Arial',10))#显示成明文形式
+e2.place(relx=0.35, rely=0.15)
+e2.bind('<Enter>',e2press1)
+e2.bind('<Leave>',e2press2)
+
+e3 = tk.Entry(window, show = None, bg='white', font=('Arial',10))#显示成明文形式
+e3.place(relx=0.35, rely=0.25)
+e3.bind('<Enter>',e3press1)
+e3.bind('<Leave>',e3press2)
+
+# 第5步，在窗口界面设置放置Button按键Draw_PID.Kp
+b = tk.Button(window,
+                 text='Show PID', 
+                 font=('Arial', 12), 
+                 width=10, height=1, 
+                 bg='lightcoral',
+                 command=function)
+b.place(relx=0.4, rely=0.75)
+
+# 第6步，主窗口循环显示
+window.mainloop()