Single neuron PID.txt

#define xiteP 0.40  //比例学习速率
#define xiteI 0.35  //积分学习速率
#define xiteD 0.40  //微分学习速率

float K = 1.2;      //比例系数
int x[3] = {0};
int u[3] = {0};
int wkP[2] = {1/10,1};
int wkI[2] = {1/10,1};
int wkD[2] = {1/10,1};
int w[3] = {0};
int err[3] = {0};


int PID(int rin,int ctrlmod,int setpoint)
{
 int wadd;
 err[0] = rin - setpoint;
 switch (ctrlmod)
 {
  case 1:
  wkP[0] = wkP[1] + xiteP*u[1]*x[0];
  wkI[0] = wkI[1] + xiteI*u[1]*x[1];
  wkD[0] = wkD[1] + xiteD*u[1]*x[2];
  K = 0.6;
  break;
  case 2:
  wkP[0] = wkP[1] + xiteP*err[0]*u[1];
  wkI[0] = wkI[1] + xiteI*err[0]*u[1];