PID程序?qū)嵗?doc

/*= 這是從網(wǎng)上找來的一個比較典型的PID處理程序，在使用單片機作為控制cpu時，請稍作簡化，具體的PID參數(shù)必須由具體對象通過實驗確定。由于單片機的處理速度和ram資源的限制，一般不采用浮點數(shù)運算，而將所有參數(shù)全部用整數(shù)，運算到最后再除以一個2的N次方數(shù)據(jù)（相當于移位），作類似定點數(shù)運算，可大大提高運算速度，根據(jù)控制精度的不同要求，當精度要求很高時，注意保留移位引起的“余數(shù)”，做好余數(shù)補償。這個程序只是一般常用pid算法的基本架構(gòu)，沒有包含輸入輸出處理部分。=*/#include #include /*= PID Function The PID (比例、積分、微分) function is used in mainly control applications. PIDCalc performs one iteration of the PID algorithm. While the PID function works, main is just a dummy program showing a typical usage.=*/typedef struct PID double SetPoint; / 設定目標 Desired Value double Proportion; / 比例常數(shù) Proportional Const double Integral; / 積分常數(shù) Integral Const double Derivative; / 微分常數(shù) Derivative Const double LastError; / Error-1 double PrevError; / Error-2 double SumError; / Sums of Errors PID;/*= PID計算部分=*/double PIDCalc( PID *pp, double NextPoint ) double dError, Error; Error = pp-SetPoint - NextPoint; / 偏差 pp-SumError += Error; / 積分 dError = pp-LastError - pp-PrevError; / 當前微分 pp-PrevError = pp-LastError; pp-LastError = Error; return (pp-Proportion * Error / 比例項 + pp-Integral * pp-SumError / 積分項 + pp-Derivative * dError / 微分項 );/*= Initialize PID Structure=*/void PIDInit (PID *pp) memset ( pp,0,sizeof(PID);/*= Main Program=*/double sensor (void) / Dummy Sensor Function return 100.0;void actuator(double rDelta) / Dummy Actuator Functionvoid main(void) PID sPID; / PID Control Structure double rOut; / PID Response (Output) double rIn; / PID Feedback (Input) PIDInit ( &sPID ); / Initialize Structure sPID.Proportion = 0.5; / Set PID Coefficients sPID.Integral = 0.5; sPID.Derivative = 0.0; sPID.SetPoint = 100.0; / Set PID Setpoint for (;) / Mock Up of PID Processing rIn = sensor (); / Read Input rOut = PID