简单的c语言实现bid

.h

#ifndef _PID_H_
#define _PID_H_

#include "main.h"


typedef struct
{
  float SetSpeed;
	float ActualSeed;
	float Err;
	float Err_last;
	float Kp;
	float Ki;
	float Kd;
	float Voltage;
	float Integral;
}PIDDef;

extern void BSP_PID_Init(PIDDef *xPID);
extern float PID_Realize(PIDDef *xPID, float speed);

#endif

.c

#include "BSP_PID.h"

void BSP_PID_Init(PIDDef *xPID)
{
    xPID->SetSpeed = 0;
    xPID->ActualSeed = 0;
    xPID->Err = 0;
    xPID->Err_last = 0;
    xPID->Voltage = 0;
    xPID->Integral = 0;
    xPID->Kp = 0.1;
    xPID->Ki = 0.15;
    xPID->Kd = 0.1;
}

float PID_Realize(PIDDef *xPID, float speed)
{
    xPID->SetSpeed = speed;
    xPID->Err = xPID->SetSpeed - xPID->ActualSeed;
    xPID->Integral += xPID->Err;
    xPID->Voltage = xPID->Kp * xPID->Err + xPID->Ki * xPID->Integral + xPID->Kd * (xPID->Err - xPID->Err_last);
    xPID->Err_last = xPID->Err;
    xPID->ActualSeed = xPID->Voltage;

    return xPID->ActualSeed;
}