PID算法实现 推荐.pdfVIP

PID 算法（c 语言) （来自老外） (2010-02-17 00:18:24) 转载 #include stdio.h #includemath.h //定义PID 的结构体 struct _pid { int pv; //integer that contains the process value 过 程量 int sp; // ＊integer that contains the set point 设 定值 float integral; // 积分值 －－ 偏差累计值 float pgain; float igain; float dgain; int deadband; //死区 int last_error; }; struct _pid warm,*pid; int process_point, set_point,dead_band; float p_gain, i_gain, d_gain, integral_val,new_integ;; //－－－－－－－－－－－－－－－－－－－－－－－－ －－－－－－－－－－－－－－－－－－－－－－ pid_init DESCRIPTION This function initializes the pointers in the _pid structure to the process variable and the setpoint. *pv and *sp are integer pointers. //－－－－－－－－－－－－－－－－－－－－－－－－ －－－－－－－－－－－－－－－－－－－－－－ void pid_init(struct _pid *warm, int process_point, int set_point) { struct _pid *pid; pid = warm ; pid-pv = process_point; pid-sp = set_point; } //－－－－－－－－－－－－－－－－－－－－－－－－ －－－－－－－－－－－－－－－－－－－－－－ pid_tune DESCRIPTION Sets the proportional gain (p_gain), integral gain (i_gain), derivitive gain (d_gain), and the dead band (dead_band) of a pid control structure _pid. 设定PID 参数 －－－－ P,I,D,死区 //－－－－－－－－－－－－－－－－－－－－－－－－ －－－－－－－－－－－－－－－－－－－－－－ void pid_tune(struct _pid *pid, float p_gain, float i_gain, float d_gain, int dead_band) { pid-pgain = p_gain ; pid-igain = i_gain ; pid-dgain = d_gain ; pid-deadband = dead_band; pid-integral= integral_val; pid-last_error=0; } //－－－－－－－－－－－－－－－－－－－－－－－－ －－－－－－－－－－－－－－－－－－－－－－ pid_setinteg DESCRIPTION Set a new value for the integral term of the pid equation. This is useful for setting the initial output of the pid controller at start up. 设定输出初始值 //－－－－－－－－－－－－－－－－－－－－－－－－ －－－－－－－－－－－－－－－－－－－－－－ void pid_setinteg(struct _pid *pid,float new_integ) { pid-integral = new_integ; pid-last_error = 0; } //－－－－－－－－－－－－－－－－－－－－－－－－ －－－－－－－－－－－－－－－－－－－－－－ pid_bumpless DESCRIPTION Bumpless transfer algorithim. When suddenly changing setpoints