PID.C.zip_PID控制小车_pid小车控制_小车 pid_小车PID

//***************************************************** //定义PID结构体 //***************************************************** typedef struct PID { int 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 int LastError; //Error[-1] int PrevError; //Error[-2] } PID; //***************************************************** //定义相关宏 //***************************************************** #define P_DATA 100 #define I_DATA 0.6 #define D_DATA 1 #define HAVE_NEW_VELOCITY 0X01 //***************************************************** //声明PID实体 //***************************************************** static PID sPID; static PID *sptr = &sPID; //***************************************************** //PID参数初始化 //***************************************************** void IncPIDInit(void) { sptr->LastError = 0; //Error[-1] sptr->PrevError = 0; //Error[-2] sptr->Proportion =P_DATA; //比例常数Proportional Const sptr->Integral =I_DATA; //积分常数Integral Const sptr->Derivative =D_DATA; //微分常数Derivative Const sptr->SetPoint =100; 目标是100 } //***************************************************** //增量式PID控制设计 //***************************************************** int IncPIDCalc(int NextPoint) { int iError, iIncpid; //当前误差 iError = sptr->SetPoint - NextPoint; //增量计算 iIncpid = sptr->Proportion * iError //E[k]项 - sptr->Integral * sptr->LastError //E[k－1]项 + sptr->Derivative * sptr->PrevError; //E[k－2]项 sptr->PrevError = sptr->LastError; //存储误差，用于下次计算 sptr->LastError = iError; return(iIncpid); //返回增量值 } Int g_CurrentVelocity; Int g_Flag; void main(void) { DisableInterrupt InitMCu(); IncPIDInit(); g_CurrentVelocity=0; //全局变量也初始化 g_Flag=0; //全局变量也初始化 EnableInterrupt; While(1) { if (g_Flag& HAVE_NEW_VELOCITY) { PWMOUT+= IncPIDCalc(CurrentVelocity); g_Flag&=~ HAVE_NEW_VELOCITY; } } } //**************************************** //采样周期T //**************************************** Interrrupt TIME void { CurrentVelocity =GetCurrentVelocity; g_Flag|= HAVE_NEW_VELOCITY; }