PID.zip_pid.c文件_pid增量式_增量 PID_增量PID_增量式pid

/*==================================================================================================== PID Function The PID (比例、积分、微分) function is used in mainly control applications. PIDCalc performs one iteration of the PID algorithm. While the PID function works, main is just a dummy program showing a typical usage. =====================================================================================================*/ #ifndef PID_H #define PID_H typedef struct PID { uint8_t SetPouint; //设定目标 Desired Value uint16_t SumError; //误差累计 uint32_t Proportion; //比例常数 Proportional Const uint32_t uint8_tegral; //积分常数 uint8_tegral Const uint32_t Derivative; //微分常数 Derivative Const uint8_t LastError; //Error[-1] uint8_t PrevError; //Error[-2] } PID_Strucutre; static PID_Strucutre sPID; static PID_Strucutre *sptr = &sPID; /*==================================================================================================== Initialize PID Structure PID参数初始化 =====================================================================================================*/ void IncPIDInit(void) { sptr->SumError = 0; sptr->LastError = 0; //Error[-1] sptr->PrevError = 0; //Error[-2] sptr->Proportion = 0; //比例常数 Proportional Const sptr->uint8_tegral = 0; //积分常数uint8_tegral Const sptr->Derivative = 0; //微分常数 Derivative Const sptr->SetPouint8_t = 0; } /*==================================================================================================== 增量式PID计算部分 =====================================================================================================*/ uint8_t IncPIDCalc(uint8_t NextPouint8_t) { register uint8_t iError, iIncpid; //当前误差 iError = sptr->SetPouint8_t - NextPouint8_t; //增量计算 iIncpid = sptr->Proportion * iError //E[k]项 - sptr->uint8_tegral * sptr->LastError //E[k－1]项 + sptr->Derivative * sptr->PrevError; //E[k－2]项 //存储误差，用于下次计算 sptr->PrevError = sptr->LastError; sptr->LastError = iError; //返回增量值 return(iIncpid); } #endif