#include <stdio.h> #include<math.h> //定义PID 的结构体 struct _pid { int pv; // integer that contains the process value 过程量 int sp; // integer that contains the set point 设定值 float integral; // 积分值 -- 偏差累计值 float pgain; float igain; float dgain; int deadband; //死区 int last_error; }; struct _pid warm, *pid; int process_point, set_point, dead_band; float p_gain, i_gain, d_gain, integral_val, new_integ; /* pid_init --- This function initializes the pointers in the _pid structure to the process variable and the setpoint. *pv and *sp are integer pointers. */ void pid_init( struct _pid *warm, int process_point, int set_point ) { struct _pid *pid; pid = warm; pid->pv = process_point; pid->sp = set_point; } /*pid_tune --- Sets the proportional gain (p_gain), integral gain (i_gain), derivitive gain (d_gain), and the dead band (dead_band) of a pid control structure _pid. 设定PID参数 ---- P,I,D,死区 */ void pid_tune( struct _pid *pid, float p_gain, float i_gain, float d_gain, int dead_band ) { pid->pgain = p_gain; pid->igain = i_gain; pid->dgain = d_gain; pid->deadband = dead_band; pid->integral = integral_val; pid->last_error = 0; } /* pid_setinteg --- Set a new value for the integral term of the pid equation. This is useful for setting the initial output of the pid controller at start up. 设定输出初始值 */ void pid_setinteg( struct _pid *pid, float new_integ ) { pid->integral = new_integ; pid->last_error = 0; } /* pid_bumpless --- Bumpless transfer algorithim. When suddenly changing setpoints, or when restarting the PID equation after an extended pause, the derivative of the equation can cause a bump in the controller output. This function will help smooth out that bump. The process value in *pv should be the updated just before this function is used. pid_bumpless 实现无扰切换 当突然改变设定值时,或重新启动后,将引起扰动输出。这 个函数将能实现平顺扰动, 在调用该函数之前需要先更新 PV值 */ void pid_bumpless( struct _pid *pid ) { pid->last_error = ( pid->sp ) - ( pid->pv ); //设定值与反馈值偏差 } /* pid_calc --- Performs PID calculations for the _pid structure * a. This function uses the positional form of the pid equation, and incorporates an integral windup prevention algorithim. Rectangular integration is used, so this function must be repeated on a consistent time basis for accurate control. RETURN VALUE The new output value for the pid loop. USAGE #include "control.h" 本函数使用位置式PID计算方式,并且采取了积分饱和限制运算 PID计算 */ float pid_calc( struct _pid *pid ) { int err; float pterm, dterm, result, ferror; // 计算偏差 err = ( pid->sp ) - ( pid->pv ); // 判断是否大于死区 if ( abs( err ) > pid->deadband ) { ferror = (float) err; //do integer to float conversion only once 数据类型转换 // 比例项 pterm = pid->pgain * ferror; if ( pterm > 100 || pterm < -100 ) { pid->integral = 0.0; } else { // 积分项 pid->integral += pid->igain * ferror; // 输出为0--100% // 如果计算结果大于100,则等于100 if ( pid->integral > 100.0 ) { pid->integral = 100.0; } // 如果计算结果小于0.0,则等于0 else if ( pid->integral < 0.0 ) pid->integral = 0.0; } // 微分项 dterm = ( (float) ( err - pid->last_error ) ) * pid->dgain; result = pterm + pid->integral + dterm; } else result = pid->integral; // 在死区范围内,保持现有输出 // 保存上次偏差 pid->last_error = err; // 输出PID值(0-100) return ( result ); } void main( void ) { float display_value; int count = 0; pid = &warm; // printf("Enter the values of Process point, Set point, P gain, I gain, D gain \n"); // scanf("%d%d%f%f%f", &process_point, &set_point,&p_gain, &i_gain, &d_gain); // 初始化参数 process_point = 30; set_point = 40; p_gain = (float) ( 5.2 ); i_gain = (float) ( 0.77 ); d_gain = (float) ( 0.18 ); dead_band = 2; integral_val = (float) ( 0.01 ); printf( "The values of Process point, Set point, P gain, I gain, D gain \n" ); printf( " %6d %6d %4f %4f %4f\n", process_point, set_point, p_gain, i_gain, d_gain ); printf( "Enter the values of Process point\n" ); while ( count <= 20 ) { scanf( "%d", &process_point ); // 设定PV,SP 值 pid_init( &warm, process_point, set_point ); // 初始化PID 参数值 pid_tune( &warm, p_gain, i_gain, d_gain, dead_band ); // 初始化PID 输出值 pid_setinteg( &warm, 0.0 ); //pid_setinteg(&warm,30.0); //Get input value for process point pid_bumpless( &warm ); // how to display output display_value = pid_calc( &warm ); printf( "%f\n", display_value ); //printf("\n%f%f%f%f",warm.pv,warm.sp,warm.igain,warm.dgain); count++; } }