NXP数学电机库的PI控制器实现
PI控制器在连续时域上的函数表达式:
u ( t ) = e ( t ) ∗ K p + K i ∫ 0 t e ( t ) d t u(t)=e(t)*K_p+K_i\int_0^te(t)dt u(t)=e(t)∗Kp+Ki∫0te(t)dt
因为在计算机内数据是离散的,将上述函数离散化:
u ( k ) = u p ( k ) + u i ( k ) u p ( k ) = K p e ( k ) u i ( k ) = K i ∑ 1 k ( e ( k ) + e ( k − 1 ) ) T s 2 = K i ∗ T s 2 ∑ 1 k ( e ( k ) + e ( k − 1 ) ) u(k)=u_p(k)+u_i(k)\\ u_p(k)=K_pe(k)\\ u_i(k)=K_i\sum_1^k\frac{(e(k)+e(k-1))T_s}{2}=\frac{K_i*T_s}{2}\sum_1^k(e(k)+e(k-1)) u(k)=up(k)+ui(k)up(k)=Kpe(k)ui(k)=Ki1∑k