位置型PID算法

最新推荐文章于 2024-07-12 16:47:29 发布

ChrisKyrie

最新推荐文章于 2024-07-12 16:47:29 发布

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#include <iostream>
using namespace std;

struct _PID
{
    float SetSpeed;
    float ActualSpeed;
    float Kp;
    float Ki;
    float Kd;
    float err;
    float Last_err;
    float integral;
}PID;

void PID_init ()
{
    PID.SetSpeed = 0;
    PID.ActualSpeed = 0;
    PID.Kp = 0.2;
    PID.Ki = 0.0125;
    PID.Kd = 0.2;
    PID.integral = 0;
    PID.Last_err = 0;
}

float PID_Algothrim (float speed)
{
    PID.SetSpeed = speed;
    PID.err = PID.SetSpeed - PID.ActualSpeed;
    PID.integral += PID.err;
    PID.ActualSpeed = PID.Kp* PID.err + PID.Ki*PID.integral + PID.Kd*(PID.err-PID.Last_err);
    PID.Last_err = PID.err;
    return PID.ActualSpeed;
}

int main ()
{
    float result;
    int i = 1000;
    PID_init ();
    while(i)
    {
        i--;
        result = PID_Algothrim (100.0);
        cout << result << "\t";
    }
    return 0;
}