PID--位置型--001

Posted 郭志凯

tags:

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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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