PID控制算法的C语言实现四 增量型PID的C语言实现.docxVIP

PID控制算法的C语言实现四增量型PID的C语言实现?? 上一节中介绍了最简单的位置型PID的实现手段，这一节主要讲解增量式PID的实现方法，位置型和增量型PID的数学公式。实现过程仍然是分为定义变量、初始化变量、实现控制算法函数、算法测试四个部分，详细分类请参加《PID控制算法的C语言实现三》中的讲解，这里直接给出代码了。/*?* PID.c?*?*?/#includestdio.h#includestdlib.hstruct _pid{?? ?float SetSpeed;?? ??? ??? ?//定义设定值?? ?float ActualSpeed;?? ??? ?//定义实际值?? ?float err;?? ??? ??? ??? ?//定义偏差值?? ?float err_next;?? ??? ??? ?//定义上一个偏差值?? ?float err_last;?? ??? ??? ?//定义最上前的偏差值?? ?float Kp,Ki,Kd;?? ??? ??? ?//定义比例、积分、微分系数}pid;void PID_init(){?? ?pid.SetSpeed=0.0;?? ?pid.ActualSpeed=0.0;?? ?pid.err=0.0;?? ?pid.err_last=0.0;?? ?pid.err_next=0.0;?? ?pid.Kp=0.2;?? ?pid.Ki=0.015;?? ?pid.Kd=0.2;}float PID_realize(float speed){?? ?pid.SetSpeed=speed;?? ?pid.err=pid.SetSpeed-pid.ActualSpeed;?? ?float incrementSpeed=pid.Kp*(pid.err-pid.err_next)+pid.Ki*pid.err+pid.Kd*(pid.err-2*pid.err_next+pid.err_last);?? ?pid.ActualSpeed+=incrementSpeed;?? ?pid.err_last=pid.err_next;?? ?pid.err_next=pid.err;?? ?return pid.ActualSpeed;}int main(){?? ?PID_init();?? ?int count=0;?? ?while(count1000)?? ?{?? ??? ?float speed=PID_realize(200.0);?? ??? ?printf(%f\n,speed);?? ??? ?count++;?? ?}?? ?return 0;}运行后的1000个数据为：8355500059175406529441495114165553510002559446375888294262537247650110476835530972595642757454307881212681800293847130978755299489322067920222249565523597222801100.482597101.726562102.955040104.168114105.366058106.549004107.717178108.870743110.009888111.134796112.245636113.342598114.425842115.495552116.551880117.595009118.625099119.642311120.646812121.638756122.618294123.585594124.540794125.484062126.415535127.335365128.243698129.140671130.026443130.901138131.764893132.617859133.460159134.291931135.113297135.924408136.725372137.516327138.297394139.068695139.830353140.582489141.325226142.058685142.782974143.498199144.204498144.901962145.590714146.27