PID.rar_pid c 算法

typedef struct PIDValue { uint32 Ek_Uint32[3]; //差值保存，给定和反馈的差倿br> uint8 EkFlag_Uint8[3]; //符号＿则对应的Ek[i]为负数，0为对应的Ek[i]为正敿br> uint8 KP_Uint8; uint8 KI_Uint8; uint8 KD_Uint8; uint8 B_Uint8; //死区电压 uint8 KP; //显示修改的时候用 uint8 KI; // uint8 KD; // uint8 B; // uint16 Uk_Uint16; //上一时刻的控制电县br> }PIDValueStr; PIDValueStr xdata PID; void PIDProcess(void) { uint32 idata Temp[3]; // uint32 idata PostSum; //正数咿br> uint32 idata NegSum; //负数咿br> Temp[0] = 0; Temp[1] = 0; Temp[2] = 0; PostSum = 0; NegSum = 0; if( ADPool.Value_Uint16[UINADCH] > ADPool.Value_Uint16[UFADCH] ) //给定大于反馈,则EK为正敿br> { Temp[0] = ADPool.Value_Uint16[UINADCH] - ADPool.Value_Uint16[UFADCH]; //计算Ek[0] if( Temp[0] > PID.B_Uint8 ) { //数值移使br> PID.Ek_Uint32[2] = PID.Ek_Uint32[1]; PID.Ek_Uint32[1] = PID.Ek_Uint32[0]; PID.Ek_Uint32[0] = Temp[0]; //符号移位 PID.EkFlag_Uint8[2] = PID.EkFlag_Uint8[1]; PID.EkFlag_Uint8[1] = PID.EkFlag_Uint8[0]; PID.EkFlag_Uint8[0] = 0; //当前EK为正敿br> Temp[0] = (uint32)PID.KP_Uint8 * PID.Ek_Uint32[0]; // KP*EK0 Temp[1] = (uint32)PID.KI_Uint8 * PID.Ek_Uint32[1]; // KI*EK1 Temp[2] = (uint32)PID.KD_Uint8 * PID.Ek_Uint32[2]; // KD*EK2 } } else //反馈大于给定 { Temp[0] = ADPool.Value_Uint16[UFADCH] - ADPool.Value_Uint16[UINADCH]; //计算Ek[0] if( Temp[0] > PID.B_Uint8 ) { //数值移使br> PID.Ek_Uint32[2] = PID.Ek_Uint32[1]; PID.Ek_Uint32[1] = PID.Ek_Uint32[0]; PID.Ek_Uint32[0] = Temp[0]; //符号移位 PID.EkFlag_Uint8[2] = PID.EkFlag_Uint8[1]; PID.EkFlag_Uint8[1] = PID.EkFlag_Uint8[0]; PID.EkFlag_Uint8[0] = 1; //当前EK为负敿br> Temp[0] = (uint32)PID.KP_Uint8 * PID.Ek_Uint32[0]; // KP*EK0 Temp[1] = (uint32)PID.KI_Uint8 * PID.Ek_Uint32[1]; // KI*EK1 Temp[2] = (uint32)PID.KD_Uint8 * PID.Ek_Uint32[2]; // KD*EK2 } } if(PID.EkFlag_Uint8[0]==0) { PostSum += Temp[0]; //正数咿br> } else { NegSum += Temp[0]; //负数咿br> } // KP*EK0 if(PID.EkFlag_Uint8[1]!=0) { PostSum += Temp[1]; //正数咿br> } else { NegSum += Temp[1]; //负数咿br> } // - kI * EK1 if(PID.EkFlag_Uint8[2]==0) { PostSum += Temp[2]; //正数咿br> } else { NegSum += Temp[2]; //负数咿br> } // KD * EK2 PostSum += (uint32)PID.Uk_Uint16; // if( PostSum > NegSum ) // 是否控制量为正数 { Temp[0] = PostSum - NegSum; if( Temp[0] < (uint32)ADPool.Value_Uint16[UMAXADCH] ) //小于限幅值则为计算值输凿br> { PID.Uk_Uint16 = (uint16)Temp[0]; } else { PID.Uk_Uint16 = ADPool.Value_Uint16[UMAXADCH]; //否则为限幅值输凿br> } } else //控制量输出为负数，则输出0 { PID.Uk_Uint16 = 0; }