增量型PID算法

最新推荐文章于 2024-07-04 10:21:41 发布

ChrisKyrie

最新推荐文章于 2024-07-04 10:21:41 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 Up_err;
    float PID_increase;
}PID;

void PID_init ()
{
    PID.SetSpeed = 0;
    PID.ActualSpeed = 0;
    PID.Kp = 0.2;
    PID.Ki = 0.015;
    PID.Kd = 0.2;
    PID.err = 0;
    PID.Last_err = 0;
    PID.Up_err  = 0;
    PID.PID_increase = 0;
}

float PID_Algorithm (float speed)
{
    PID.SetSpeed = speed;
    PID.err = PID.SetSpeed - PID.ActualSpeed;
    PID.PID_increase = PID.Kp*(PID.err-PID.Last_err) + PID.Ki*PID.err + PID.Kd*(PID.err-2*PID.Last_err+PID.Up_err);
    PID.ActualSpeed += PID.PID_increase;
    PID.Last_err = PID.err;
    PID.Up_err = PID.Last_err;
    return PID.ActualSpeed;
}