#include<iostream.h>
struct _pid
{
float SetSpeed; //定义设定值
float ActualSpeed; //定义实际值
float err; //定义偏差值
float err_last; //定义上一个偏差值
float Kp,Ki,Kd; //定义比例、积分、微分系数
float voltage; //定义电压值（控制执行器的变量）
float integral; //定义积分值
}pid;
void PID_init()
{
printf("PID_init begin \n");
pid.SetSpeed=0.0;
pid.ActualSpeed=0.0;
pid.err=0.0;
pid.err_last=0.0;
pid.voltage=0.0;
pid.integral=0.0;
pid.Kp=0.3;
pid.Ki=0.015;
pid.Kd=0.2;
printf("PID_init end \n");
}
float PID_realize(float speed)
{
pid.SetSpeed=speed;
pid.err=pid.SetSpeed-pid.ActualSpeed;
pid.integral+=pid.err;
pid.voltage=pid.Kp*pid.err+pid.Ki*pid.integral+pid.Kd*(pid.err-pid.err_last);
pid.err_last=pid.err;
pid.ActualSpeed=pid.voltage*1.0;
return pid.ActualSpeed;
}
int main()
{
int count=0;
printf("System begin \n");
PID_init();
while(count<1000)
{
float speed=PID_realize(200.0);
printf("%f\n",speed);
count++;
}
return 0;}
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