PID--位置型--001
Posted 郭志凯
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#include <stdio.h> #include <stdlib.h> #include <string.h> typedef struct { float SetSpeed; //定义设定值 float ActualSpeed; //定义实际值 float err; //定义偏差值 float err_last; //定义上一个偏差值 float Kp,Ki,Kd; //定义比例、 积分、 微分系数 float voltage; //定义电压值(控制执行器的变量) float integral; //定义积分值 } PID ; void PID_Init(); float PID_realize(float speed); PID pid ; FILE* out ; int main() { out = fopen("C:\\Users\\Administrator\\Desktop\\log.txt","w"); if(out) { printf("File open err...\n"); } printf("System begin \n"); PID_Init(); unsigned long count=0; while(count<2000) { float speed=PID_realize(200.0); printf("%f\n",speed); fprintf(out,"%f\n",speed); fflush(out); count++; } fclose(out); return 0; } void PID_Init() { printf("PID_init begin \n"); pid.SetSpeed=0.0; pid.ActualSpeed=0.0; pid.err=0.0; pid.err_last=0.0; pid.voltage=0.0; pid.integral=0.0; pid.Kp=0.2; pid.Ki=0.015; pid.Kd=0.2; printf("PID_init end \n"); } /****************************************************************** 这里用了最基本的算法实现形式, 没有考虑死区问题, 没有设定上下限, 只是对公式的一种直接的实现, 后面的介绍当中还会逐渐的对此改进。 *******************************************************************/ float PID_realize(float speed) { pid.SetSpeed=speed; pid.err=pid.SetSpeed-pid.ActualSpeed; pid.integral+=pid.err; pid.voltage=pid.Kp*pid.err+pid.Ki*pid.integral+pid.Kd*(pid.err-pid.err_last); pid.err_last=pid.err; pid.ActualSpeed=pid.voltage*1.0; return pid.ActualSpeed; }
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以上是关于PID--位置型--001的主要内容,如果未能解决你的问题,请参考以下文章
LINUX PID 1和SYSTEMD PID 0 是内核的一部分,主要用于内进换页,内核初始化的最后一步就是启动 init 进程。这个进程是系统的第一个进程,PID 为 1,又叫超级进程(代码片段