PID相关

//PID算法
//简介： 比例、积分、微分结合三个环节于一体的闭环控制算法
//本质：根据输入的偏差，按照P\I\D函数关系进行计算从而调整输出。
//比例环节：u = Kpe; //Kp越大，系统稳定时间越短，但是会存在超调现象，容易导致系统损毁或者震荡，存在静态误差（系统控制过程接近稳定状态///时，目标值和实测值之间的偏差）。
//积分环节：u = Kpe + KiΣe；
//对输入偏差不断进行积分，主要用于消除静态误差；
//Ki越大，消除静态误差时间越短，但容易产生超调震荡，稳定性变差。
//微分环节：u = Kpe + KiΣe + Kd(e(k) - e(k-1));
//提前稳定输出，避免超调，但系数过大容易抑制过大，容易产生高频噪声
//位置式PID：u = Kpe + KiΣe + Kd*(e(k) - e(k-1))；
//特点：直接控制输出
//缺点：产生累计误差，累计量较大，计算量大
//增量式PID：Δu = Kp*(e(k)- e(k-1)) + Kie(k) + Kd(e(k)- 2e(k-1) + e(k-2));
//特点：计算相对值，不直接控制输出
//优点：计算量少，计算偏差，没有累计误差；
可扫码了解相关职位

/*PID types select*/
#define PID_TYPE	1			//1:position-based PID 		0:incremental PID

/*
*@brief Parameters required by the PID algorithm
*/
typedef struct{
	float Kp;					//比例系数
	float Ki;					//积分系数
	float Kd;					//微分系数
	float DestValue;			//设定目标值
	float ActionValue;			//控制输出值
	float CumulativeError;		//累计误差
	float Error;				//当前误差
	float LastError;			//上一次误差
	float PrevError;			//上两次误差
}PID_Param_TypeDef;

/* 
 *Function：GKHY_PID_Init
 *Describe:	PID parameters init.
 *Parameter: 	PID_Param: which pid defined yourself need to be inited.
				Kp: the parameter of proportion. 
				Ki:	the parameter of integration.
				Kd: the parameter of differentiation.
 *Return:   none
*/
void GKHY_PID_Init(PID_Param_TypeDef *PID_Param, float Kp, float Ki, float Kd)
{
	PID_Param->Kp				= Kp;
	PID_Param->Ki				= Ki;
	PID_Param->Kd				= Kd;
	PID_Param->DestValue		= 0.0;
	PID_Param->ActionValue		= 0.0;
	PID_Param->CumulativeError	= 0.0;
	PID_Param->Error			= 0.0;
	PID_Param->LastError		= 0.0;
	PID_Param->PrevError		= 0.0;
}

/* 
 *Function：GKHY_PID_Init
 *Describe:	PID calculation is performed according to the current acquisition value
 *Parameter: 	PID_Param: which pid defined yourself need to be calculate.
				CurrentValue: the current value which need to be calculate.
 *Return:	ActionValue
*/
float GKHY_PID_Calculate(PID_Param_TypeDef *PID_Param, float CurrentValue)
{

	PID_Param->Error = PID_Param->DestValue - CurrentValue;
	
#if PID_TYPE      	//位置式PID u = Kp*e + Ki*Σe + Kd*(e(k) - e(k-1));
	PID_Param->CumulativeError += PID_Param.Error;
	
	PID_Param->ActionValue = PID_Param->Kp * PID_Param->Error 							+ \
							 PID_Param->Ki * PID_Param->CumulativeError 				+ \
							 PID_Param->Ki * (PID_Param->Error - PID_Param->LastError);
							
	PID_Param->LastError = PID_Param->Error;
#else				//增量式PID Δu = Kp*(e(k)- e(k-1)) + Ki*e(k) + Kd*(e(k)- 2e(k-1) + e(k-2));

	PID_Param->ActionValue += PID_Param->Kp * (PID_Param->Error - PID_Param->LastError) + \
	                          PID_Param->Ki * PID_Param->Error 							+ \
							  PID_Param->Ki * (PID_Param->Error - 2 * PID_Param->LastError + PID_Param->PrevError);
	PID_Param->PrevError = PID_Param->LastError;
	PID_Param->LastError = PID_Param->Error;
#endif  

	return PID_Param.ActionValue;
}

```使用清注明出处