pid.zip_C语言_pid

//PID参数结构体 typedef struct PID { double SetPoint; // 设定目标Desired value double Proportion; // 比例常数Proportional Const double Integral; // 积分常数Integral Const double Derivative; // 微分常数Derivative Const double LastError; // Error[-1] double PrevError; // Error[-2] double SumError; // Sums of Errors } PID; /****************************************************************** * 位置式PID，转向 *********************************************************************/ double PID_turn( PID *pp, double NextPoint ) { double dError, Error; Error = pp->SetPoint - NextPoint; // 偏差 pp->SumError += Error; // 积分 dError = Error - pp->LastError; // 当前微分 pp->PrevError = pp->LastError; pp->LastError = Error; return (pp->Proportion * Error // 比例项 + pp->Integral * pp->SumError // 积分项 + pp->Derivative * dError); // 微分项 }