PID(七、变积分PID)

#include <stdio.h>
#include <stdlib.h>
#include <math.h>

typedef struct {
    float SetSpeed;
    float LastLocation;
    float err_now_0;
    float err_last_1;
    float Kp;
    float Ki;
    float Kd;
    float output;
    float integral_sum;
}PID;

PID pid;

void
PID_Config(PID *pid)
{
    (*pid).SetSpeed = 0.0;
    (*pid).LastLocation = 0.0;
    (*pid).err_now_0 = 0.0;
    (*pid).err_last_1 = 0.0;
    (*pid).output = 0.0;
    (*pid).integral_sum = 0.0;
    (*pid).Kp = 0.4;
    (*pid).Ki = 0.2;
    (*pid).Kd = 0.2;
}


float
PID_SetSpeed(PID *pid, float speed)
{
    float index;
    (*pid).SetSpeed = speed;
    (*pid).err_now_0 = (*pid).SetSpeed-(*pid).LastLocation;

    if (abs((*pid).err_now_0) > 200){
        index = 0.0;
    } else if (abs((*pid).err_now_0 < 180)) {
            index= 1.0;
            (*pid).integral_sum += (*pid).err_now_0;
    }else {
        index = (200-abs((*pid).err_now_0)) / 20; /*180-200 is dynamic*/
        (*pid).integral_sum += (*pid).err_now_0;
    }

    (*pid).output = (*pid).Kp * (*pid).err_now_0 + index * (*pid).Ki * (*pid).integral_sum + (*pid).Kd * ((*pid).err_now_0 - (*pid).err_last_1);
    (*pid).err_last_1 = (*pid).err_now_0;
    (*pid).LastLocation = (*pid).output * 1.0;

    return  (*pid).output;
}

int
main(int argc, char *argv[])
{
    int count = 0;
    float speed;

    PID_Config(&pid);

    while (count < 1000) {
       speed = PID_SetSpeed(&pid, 200.0);
        printf("%f \n",speed);
        count++;
    }

    return 0;
}