增量式PID程序已调通.doc

typedef struct PID { int SetPoint; //设定目标 Desired Value long SumError; //误差累计 double KKp; //比例常数 Proportional Const double KKi; //积分常数 Integral Const double KKd; //微分常数 Derivative Const int LastError; //Error[-1] int PrevError; //Error[-2] } PID; static PID sPID; static PID *sptr = sPID; /*==================================================================================================== Initialize PID Structure PID参数初始化 =====================================================================================================*/ void IncPIDInit(void) { sPID.SumError = 0; sPID.LastError = 0; //Error[-1] sPID.PrevError = 0; //Error[-2] sPID.KKp =0; //比例常数 Proportional Const sPID.KKi = 0; //积分常数Integral Const sPID.KKd = 0; //微分常数 Derivative Const sPID.SetPoint =0; } /*==================================================================================================== 增量式PID计算部分 =====================================================================================================*/ int IncPIDCalc(int NextPoint) { register int iError, iIncpid; //当前误差 iError =sPID.SetPoint - NextPoint; //增量计算 iIncpid = sPID.KKp * iError //E[k]项 - sPID.KKi * sPID.LastError //E[k－1]项 + sPID.KKd * sPID.PrevError; //E[k－2]项 //存储误差，用于下次计算 sPID.PrevError =sPID.LastError; sPID.LastError = iError; //返回增量值 return(iIncpid); }