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本帖最后由 @lins 于 2017-8-8 18:45 編輯
#include "pid.h"
#include "sys.h"
PIDtypedef PID1; //PID結(jié)構(gòu)體
PIDtypedef PID2;
PIDtypedef PID3;
PIDtypedef PID4;
/*------------------------------------------
函數(shù)功能:PID單元 參數(shù)初始化程序
函數(shù)說(shuō)明:
------------------------------------------*/
void incPIDinit(void)
{
//PID1參數(shù)初始化
PID1.sum_error=0;
PID1.last_error=0;
PID1.prev_error=0;
PID1.proportion=0;
PID1.integral=0;
PID1.derivative=0;
PID1.setpoint=0;
//PID2參數(shù)初始化
PID2.sum_error=0;
PID2.last_error=0;
PID2.prev_error=0;
PID2.proportion=0;
PID2.integral=0;
PID2.derivative=0;
PID2.setpoint=0;
//PID3參數(shù)初始化
PID3.sum_error=0;
PID3.last_error=0;
PID3.prev_error=0;
PID3.proportion=0;
PID3.integral=0;
PID3.derivative=0;
PID3.setpoint=0;
//PID4參數(shù)初始化
PID4.sum_error=0; //增量疊加
PID4.last_error=0; //當(dāng)前誤差
PID4.prev_error=0; //上一個(gè)誤差
PID4.proportion=0; //比例
PID4.integral=0; //積分
PID4.derivative=0; //微分
PID4.setpoint=0; //設(shè)定值
}
/*------------------------------------------
函數(shù)功能:預(yù)期值設(shè)定
函數(shù)說(shuō)明:
------------------------------------------*/
void PID_setpoint(PIDtypedef*PIDx,u16 setvalue)
{
PIDx->setpoint=setvalue; //設(shè)定值
}
/*------------------------------------------
函數(shù)功能:PID增量式計(jì)算公式
函數(shù)說(shuō)明:PID=Uk+KP*(E(k)-E(k-1))+KI*E(k)+KD*(E(k)-2E(k-1)+E(k-2))
------------------------------------------*/
int incPIDcalc(PIDtypedef *PIDx,u16 nextpoint)
{
float iError,iincpid;
iincpid=
PIDx->proportion*(iError-PIDx->last_error)
+PIDx->integral*iError
+PIDx->derivative*(iError-2*PIDx->last_error+PIDx->prev_error);
PIDx->prev_error=PIDx->last_error; //存儲(chǔ)誤差，便于下次計(jì)算
PIDx->last_error=iError;
PIDx->sum_error+=iincpid;
return(PIDx->sum_error) ;
}
/*------------------------------------------
函數(shù)功能:PID 參數(shù)設(shè)置
函數(shù)說(shuō)明:
------------------------------------------*/
void PIDset(PIDtypedef *PIDx,float P,float I,float D)
{
PIDx->proportion=P;
PIDx->integral=I;
PIDx->derivative=D;
}
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