typedef struct PIDValue
{
int8 KP;
int8 KI;
int8 KD;
int8 F;
int8 BITMOV;
int EK[3];
int UK;函數出口
int RK;設定值
int CK;實際值
int UK_REAL;
}pid_str;
//PIDValueStr? PID;
void??? pid_exe(pid_str *PID)? ;
#endif
?
//pid.c
/*PID = PID->UK_REAL + PID->KP*[E(k)-E(k-1)]+PID->KI*E(k)+PID->KD*[E(k)-2E(k-1)+E(k-2)];(增量型PID算式)
函數入口: PID->RK(設定值),PID->CK(實際值),PID->KP,PID->KI,PID->KD
函數出口: U(K)*/
#include"defines.h"
#include"pid.h"
#define MAXOUT 0xff
//#define MAXGAP 100
?
void pid_exe(pid_str*PID)
{
PID->EK[2]=PID->EK[1];
PID->EK[1]=PID->EK[0];
PID->EK[0]=PID->RK-PID->CK;
PID->UK_REAL=PID->UK_REAL
+PID->KP*(PID->EK[0]-PID->EK[1])//微分一次后積分即原數
+(float)PID->KI*PID->EK[0]/PID->F//直接積分
+(float)PID->KD*(PID->EK[0]-2*PID->EK[1]+PID->EK[2])*PID->F;//二階微分后積分即一階微分
if((PID->UK_REAL>>PID->BITMOV)>=MAXOUT)
{
PID->UK=MAXOUT;
}else if(PID->UK_REAL>>PID->BITMOV<=-MAXOUT)
{
PID->UK=-MAXOUT;
}else
{
PID->UK=PID->UK_REAL>>PID->BITMOV;
}
}
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