PID控制总单元.zip_PID STM32_pid_pid controller_stm32_stm32 PID

#include "pid.h" void PIDParameter_Init(PIDTypeDef *P, float goal, float real, float Kp, float Ki, float Kd) { P->differential = 0; P->real = real; P->goal = goal; P->err = goal - real; P->err_last = P->err; P->Kp = Kp; P->Ki = Ki; P->Kd = Kd; P->integral = 0; return; } float PID_calculate(PIDTypeDef *P, float real) { float Output; P->real = real; P->err = P->goal - P->real; P->integral += P->err; P->differential = P->err - P->err_last; Output = P->err*P->Kp + P->differential*P->Kd + P->integral*P->Ki; P->err_last = P->err; return Output; }