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1、PID控制算法的C語言實(shí)現(xiàn)四 增量型PID的C語言實(shí)現(xiàn) 上一節(jié)中介紹了最簡單的位置型PID的實(shí)現(xiàn)手段，這一節(jié)主要講解增量式PID的實(shí)現(xiàn)方法，位置型和增量型PID的數(shù)學(xué)公式。實(shí)現(xiàn)過程仍然是分為定義變量、初始化變量、實(shí)現(xiàn)控制算法函數(shù)、算法測試四個(gè)部分，詳細(xì)分類請參加PID控制算法的C語言實(shí)現(xiàn)三中的講解，這里直接給出代碼了。/* PID.c*/#include#includestruct _pid float SetSpeed; /定義設(shè)定值 float ActualSpeed; /定義實(shí)際值 float err; /定義偏差值 float err_next; /定義上一個(gè)偏差值 float err

2、_last; /定義最上前的偏差值 float Kp,Ki,Kd; /定義比例、積分、微分系數(shù)pid;void PID_init() pid.SetSpeed=0.0; pid.ActualSpeed=0.0; pid.err=0.0; pid.err_last=0.0; pid.err_next=0.0; pid.Kp=0.2; pid.Ki=0.015; pid.Kd=0.2;float PID_realize(float speed) pid.SetSpeed=speed; pid.err=pid.SetSpeed-pid.ActualSpeed; float incrementSpee

3、d=pid.Kp*(pid.err-pid.err_next)+pid.Ki*pid.err+pid.Kd*(pid.err-2*pid.err_next+pid.err_last); pid.ActualSpeed+=incrementSpeed; pid.err_last=pid.err_next; pid.err_next=pid.err; return pid.ActualSpeed;int main() PID_init(); int count=0; while(count1000) float speed=PID_realize(200.0); printf(%fn,speed)

4、; count+; return 0;運(yùn)行后的1000個(gè)數(shù)據(jù)為：83.11.59.28.52.38.51.46.53.51.55.55.58.59.62.63.65.67.68.70.72.73.75.76.78.79.81.82.84.85.87.88.89.91.92.94.95.96.97.99.100.101.102.104.105.106.107.108.110.111.112.113.114.115.116.117.118.119.120.121.122.123.124.125.126.127.128.129.130.130.131.132.133.134.135.135.136.

5、137.138.139.139.140.141.142.142.143.144.144.145.146.146.147.148.148.149.150.150.151.152.152.153.153.154.154.155.156.156.157.157.158.158.159.159.160.160.161.161.162.162.163.163.164.164.164.165.165.166.166.167.167.167.168.168.169.169.169.170.170.170.171.171.172.172.172.173.173.173.174.174.174.175.175.

6、175.175.176.176.176.177.177.177.178.178.178.178.179.179.179.179.180.180.180.180.181.181.181.181.182.182.182.182.182.183.183.183.183.183.184.184.184.184.184.185.185.185.185.185.186.186.186.186.186.186.187.187.187.187.187.187.187.188.188.188.188.188.188.188.189.189.189.189.189.189.189.190.190.190.190.

7、190.190.190.190.190.191.191.191.191.191.191.191.191.191.192.192.192.192.192.192.192.192.192.192.192.193.193.193.193.193.193.193.193.193.193.193.193.194.194.194.194.194.194.194.194.194.194.194.194.194.194.195.195.195.195.195.195.195.195.195.195.195.195.195.195.195.195.195.195.196.196.196.196.196.196.

8、196.196.196.196.196.196.196.196.196.196.196.196.196.196.196.196.196.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.

9、198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.

10、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.

11、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.

12、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.

13、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.

14、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.

15、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.

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