[电机与驱动] 一个简单的PID

#include <hidef.h>      /* common defines and macros */               #include "derivative.h"      /* derivative-specific definitions */               #include <mc9s12xs128.h>                //               #define VV_MIN 0               #define VV_DEADLINE 0X08   //速度PID，设置死区范围              typedef struct PID       //定义数法核心数据              {                 signed int vi_Ref;      //速度PID，速度设定值                signed int vi_FeedBack;  //速度PID，速度反馈值              signed long vi_PreError;  //                 unsigned int v_Kp;      // 速度PID， Ka = Kp                 unsigned int v_Ki;      //速度PID，Kb = Kp * ( T / Ti )                 unsigned int v_Kd;      //速度PID，     s                igned long vl_PreU;    //                                  //设置调节死区             if((error< VV_DEADLINE ) && ( error > -VV_DEADLINE ) );                                     //速度PID计算               pp->vl_PreU+=(signed long)(pp->v_Kp*d_error+pp->v_Ki*error+pp->v_Kd*dd_error);                 else if( pp->vl_PreU >= VV_MAX )   //速度PID，防止调节最高溢出                       pp->vl_PreU = VV_MAX;                 else if( pp->vl_PreU <= VV_MIN ) //速度PID，防止调节最低溢出                         pp->vl_PreU = VV_MIN;               else                         ;                   return ( pp->vl_PreU  );  // 返回预调节占空比                   }                       void main(void) {                              /* put your own code here */                                 InitMCu();                              IncPIDInit();                              int g_CurrentVelocity=0;   //全局变量也初始化                              int g_Flag=0;              //全局变量也初始化                               EnableInterrupts;                               While(1)                            {                                   if (g_Flag&&vi_FeedBack)                                 {                                 PWMOUT+=  v_PIDCalc( PID *pp );                                 g_Flag&=~ vi_FeedBack;                                              }                                           }                                      }                                  for(;;) {                                     _FEED_COP(); /* feeds the dog */                                       } /* loop forever */                                  /* please make sure that you never leave main */                                         } 速度PID，前一次，速度误差,,vi_Ref - vi_FeedBack              signed long vi_PreDerror; //速度PID，前一次，速度误差之差，d_error-PreDerror;电机控制输出值                                       }PID;                    PID  sPID;                //  PID Control Structure                   void PIDInit(void)                     {                      sPID.vi_Ref = 0 ;        //速度设定值                      sPID.vi_FeedBack = 0 ;  //速度反馈值                         sPID.vi_PreError = 0 ;   //前一次，速度误差,,vi_Ref - vi_FeedBack                      sPID.vi_PreDerror = 0 ;   //前一次，速度误差之差，d_error-PreDerror;                       sPID.v_Kp = VV_KPVALUE;                        sPID.v_Ki = VV_KIVALUE;                        sPID.v_Kd = VV_KDVALUE;                           sPID.vl_PreU = 0 ;      //电机控制输出值                                             }                                                       unsigned int v_PIDCalc( PID *pp )                     {                       signed long  error,d_error,dd_error;                        error = (signed long)(pp->vi_Ref - pp->vi_FeedBack); // 偏差计算                          d_error = error - pp->vi_PreError;                       dd_error = d_error - pp->vi_PreDerror;                        pp->vi_PreError = error; //存储当前偏差                        pp->vi_PreDerror = d_error;定义PID参数               #define VV_KPVALUE 3       //比例               #define VV_KIVALUE 40     //积分               #define VV_KDVALUE 3     //微分               #define VV_MAX 10000       //返回的最大值,是pwm的周期值