智能小车系统C语言linux,PID控制智能小车C语言算法实现

#include

#include

struct _pid {

int pv; /*integer that contains the process value*/

int sp; /*integer that contains the set point*/

float integral;

float pgain;

float igain;

float dgain;

int deadband;

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

DESCRIPTION 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

DESCRIPTION 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.

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

DESCRIPTION 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.

void pid_setinteg(struct _pid *pid,float new_integ)

{

pid->integral = new_integ;

pid->last_error = 0;

}　　　　　　pid_bumpless

DESCRIPTION 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.

void pid_bumpless(struct _pid *pid)

{

pid->last_error = (pid->sp)-(pid->pv);

}

pid_calc

DESCRIPTION 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"*/

float pid_calc(struct _pid *pid)　　{

int err;

float pterm, dterm, result, ferror;

err = (pid->sp) - (pid->pv);

if (abs(err) > pid->deadband)　　 {

ferror = (float) err; /*do integer to float conversion only once*/

pterm = pid->pgain * ferror;

if (pterm > 100 || pterm < -100)　　 {

pid->integral = 0.0;　　 }

else　　 {

pid->integral += pid->igain * ferror;

if (pid->integral > 100.0)

{

pid->integral = 100.0;　　 }

else if (pid->integral < 0.0) pid->integral = 0.0;　　 }

dterm = ((float)(err - pid->last_error)) * pid->dgain;

result = pterm + pid->integral + dterm;　　 }

else result = pid->integral;

pid->last_error = err;

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);

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);

pid_init(&warm, process_point, set_point);

pid_tune(&warm, p_gain,i_gain,d_gain,dead_band);

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++;

}