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標(biāo)題: pid程序的應(yīng)用 [打印本頁(yè)]

作者: 2068093564 時(shí)間: 2018-7-5 14:57
標(biāo)題: pid程序的應(yīng)用

typedef struct PID
{
int  SetPoint; //  設(shè)定目標(biāo) Desired Value
long SumError; // 誤差累計(jì)

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

int LastError;          //  Error[-1]
int PrevError;       //  Error[-2]

} PID;

static PID    sPID;
static PID    *sptr = &sPID;
//=============================================================
// Function: IncPIDInit()
// Syntax: void IncPIDInit(void);
// Description: Initialization PID parameter.
// Notes:
// parameters: none
// returns: none
//=============================================================
void PID_Init(void)
{
sptr->LastError  = 0; //Error[-1]
sptr->PrevError  = 0; //Error[-2]
sptr->Proportion = 0.3; //比例常數(shù) Proportional Const
sptr->Integral = 0.2; //3.5積分常數(shù) Integral Const
sptr->Derivative = 0.1; //1.25微分常數(shù) Derivative Const
sptr->SetPoint = 0;
sptr->SumError = 0;
}

//=============================================================
// ----Function: IncPIDSetPoint()
// ------Syntax: void IncPIDSetPoint(unsigned int setpoint);
// -Description: Set PID Desired Value
// -------Notes:
// --parameters: Desired Value
// -----returns: none
//=============================================================
void PIDSetPoint(int setpoint)
{ sptr->SetPoint = setpoint; }

int PIDGetSetpoint(void)
{ return(sptr->SetPoint); }
//=============================================================
// ----Function: IncPIDKp()
// ------Syntax: void IncPIDKp(double dKp);
// -Description: Set PID Proportion coefficient
// -------Notes:
// --parameters: Proportion Const
// -----returns: none
//=============================================================
void PIDSetKp(double dKpp)
{ sptr->Proportion = dKpp; }
//===================================//
// Get Proportion
//===================================//
double PIDGetKp(void)
{ return(sptr->Proportion); }
//=============================================================
// ----Function: IncPIDKi()
// ------Syntax: void IncPIDKi(double dKi);
// -Description: Set PID Integral coefficient
// -------Notes:
// --parameters: Integral Const
// -----returns: none
//=============================================================
void PIDSetKi(double dKii)
{ sptr->Integral = dKii; }
//===================================//
// Get Integral
//===================================//
double PIDGetKi(void)
{ return(sptr->Integral); }
//=============================================================
// ----Function: IncPIDKd()
// ------Syntax: void IncPIDKd(double dKd);
// -Description: Set PID Derivative coefficient
// -------Notes:
// --parameters: Derivative Const
// -----returns: none
//=============================================================
void PIDSetKd(double dKdd)
{ sptr->Derivative = dKdd; }
//===================================//
// Get Derivative
//===================================//
double PIDGetKd(void)
{ return(sptr->Derivative); }

void Self_ConfigPID(double uiKp)
{
double dKp;
dKp = uiKp;
PIDSetKp(2.45*dKp);
PIDSetKi(3.50*dKp);
PIDSetKd(1.25*dKp);
}

//=============================================================
// ----Function: IncPIDCalc()
// ------Syntax: int IncPIDCalc(unsigned int NextPoint);
// -Description: Increment Digital PID calculate
// -------Notes: Basic Increment Digital PID
// --parameters: Next Point
// -----returns: increase controls parameter
//=============================================================
int IncPIDCalc(int NextPoint)
{
register int iError, iIncpid;

iError = sptr->SetPoint - NextPoint;

iIncpid = sptr->Proportion * iError //E[0]
         + sptr->Integral * sptr->LastError //E[-1]
         + sptr->Derivative * sptr->PrevError; //E[-2]

sptr->PrevError = sptr->LastError;
sptr->LastError = iError;

return(iIncpid);
}

//=============================================================
// ----Function: LocPIDCalc()
// ------Syntax: unsigned int locPIDCalc(unsigned int NextPoint);
// -Description: Location Digital PID calculate
// -------Notes: Basic Location Digital PID
// --parameters: Next Point
// -----returns: Location controls parameter
//=============================================================
unsigned int LocPIDCalc(int NextPoint)
{
register int  iError,dError;

iError = sptr->SetPoint - NextPoint;       // 偏差
sptr->SumError += iError; // 積分
dError = iError - sptr->LastError; // 當(dāng)前微分
sptr->LastError = iError;

return(sptr->Proportion * iError            // 比例項(xiàng)
         + sptr->Integral * sptr->SumError // 積分項(xiàng)
         + sptr->Derivative * dError);
}

//=============================================//
// *END*
//=============================================//

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