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PID算法C语言汇总
PID算法(c语言)
#include stdio.h#includemath.h
struct _pid
{
int pv; //integer that contains the process value 过程量int sp; //integer that contains the set point?? 设定值float integral; // 积分值 -- 偏差累计值float pgain;
float igain;
float dgain;
int deadband;??? //死区int last_error;
};
struct _pid warm,*pid;
int process_ point, set_point, dead_band;
float p_gain, i_gain, d_gain, integral_val,new_integ;
//----------------------------------pid_init DESCRIPTION This function initializes the pointers in the _pid structure to the process variable and the setpoint. *pv and *sp are integer pointers.
//----------------------------------void pid_init(struct _pid *warm, int process_point, int set_point){struct _pid *pid;pid = warm;
pid-pv = process_point;
pid-sp = set_point;
}
//----------------------------------------------pid_tune DESCRIPTION Sets the proportional gain (p_gain), integral gain (i_gain),derivitive gain (d_gain), and the dead band (dead_band) of a pid control structure _pid.?设定PID参数 ---- P,I,D,死区//----------------------------------------------
void pid_tune(struct _pid *pid, float p_gain, float i_gain, float d_gain, int dead_band){pid-pgain = p_gain;pid-igain = i_gain;pid-dgain = d_gain;pid-deadband = dead_band;pid-integral= integral_val;pid-last_error=0;}//----------------------------------------------pid_setinteg DESCRIPTION Set a new value for the integral term of the pid equation.This is useful for setting the initial output of the pid controller at start up.设定输出初始值//----------------------------------------------void pid_setinteg(struct _pid *pid,float new_integ){pid-integral = new_integ;pid-last_error = 0;}
//----------------------------------------------pid_bumpless DESCRIPTION Bumpless transfer algorithim.When suddenly changing setpoints, or when restarting the PID equation after an extended pause,the derivative of the equation can cause a bump in the controller output. This function will help smooth out that bump.The process value in *pv
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