PID算法，计算的是差值，是差值

typedef struct
{
 float Kp;            //比例系数Proportional
 float Ki;            //积分系数Integral
 float Kd;            //微分系数Derivative
 
 float Ek;            //当前误差
 float Ek1;           //前一次误差 e(k-1)
 float Ek2;           //再前一次误差 e(k-2)
 float Sum;          //累计积分位置
}PID;
 
PID pid;

static float PID_Calc(float TargetPLoad, float PowerPresent, PID *PID)
{
	float PID_Calc;                 //位置

	PID->Ek = TargetPLoad - PowerPresent;
	
	PID->Sum += PID->Ek;             //累计误差

	PID_Calc = PID->Kp * PID->Ek + (PID->Ki * PID->Sum) + PID->Kd * (PID->Ek1 - PID->Ek);

	PID->Ek1 = PID->Ek; 

	return PID_Calc;
}
//uint32_t ActualValue,SetValue;

 

1.你想要 5v 电压,但是现在实际电压是2v.
2.这样就知道 差值 =设置5v-实际电压2v=3v

3,把3放入PID,这样PID就自动输出PWM值,自动自加到5V

 

 

这只是PID其中一个优势