位置式PID算法的c语言实现

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已于 2024-01-12 14:51:44 修改

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文章标签：算法 c语言

于 2024-01-12 14:26:10 首次发布

本文链接：https://blog.csdn.net/zhangkui469226425/article/details/135552045

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void PIDInit (PID *pp)  
{  
		memset ( pp,0,sizeof(PID)); //sizeof用于计算数据类型所占的字节数
		sPID.SetPoint = 0;
		sPID.Proportion = 10;
		sPID.Integral = 0;
		sPID.Derivative = 20;
}

float PIDCalc( PID *pp, float NextPoint )  
{  
		float dError, Error;  

	  if(mode == 1)
		{
				sPID.Proportion = P_Val;
				sPID.Integral = I_Val;
				sPID.Derivative = D_Val;
		}
		if(mode == 0)
		{
				sPID.Proportion = 10;
				sPID.Integral = 0;
				sPID.Derivative = 20;
		}
		
		sPID.SetPoint = Desired_temp;
		Error = pp->SetPoint - NextPoint; //偏差
		pp->SumError += Error; //积分
		dError = pp->LastError - pp->PrevError; //当前微分
		pp->PrevError = pp->LastError;  
		pp->LastError = Error;  
		
		if(pp->SumError>1000)  pp->SumError=1000;
		else if(pp->SumError<-1000)	  pp->SumError=-1000;
		
		return (pp->Proportion * Error + pp->Integral * pp->SumError + pp->Derivative * dError); // 比例项+积分项+微分项
}

typedef struct PID 
{  
	float SetPoint; //设定目标Desired value  
	float Proportion; //比例常数Proportional Const  
	float Integral; //积分参常数Integral Const  
	float Derivative; //微分常数Derivative Const  
	float LastError; // Error[-1]  
	float PrevError; // Error[-2]  
	float SumError; // Sums of Errors  
} PID;