用VB编写PID程序 一款很好的PID学习实例.docxVIP

vb PID 调节算法 Public Type PID ParP As Singl比e 例 系数 ParI As Singl积e 分 系数ParD As Single微分系数 OP As Double PvMin As Double 给 定值下限PvMax As Double 给 定值上限SvMin As Double 设 定值下限SvMax As Double 设 定值上限OpMin As Double 输 出值下限 OpMax As Double 输 出值上限 ChangeMin As Double 死 区范围ChangeMax As Double 调 节范围OutPutMax As Double超调时输出CtlDirection As Lon调g节方向 ControlT As Double P设ID备调控中期PvRange As Double PV值的量程 OutDx As Double PI计D SvPvdx As Double SvPvdx1 As Double SvPvdx2 As Double Lvbo As Integer End Type 算出的输出增加值 Public Function PIDCALC(ByVal Sv As Double, ByVal Pv As Double, PIDC As PID) As Double On Error Resume Next If PIDC.ControlT = 0 Then PIDC.ControlT确=保1控制周期不为零PIDC.PvRange = PIDC.PvMax - PIDC.PvMin If PIDC.PvRange = 0 Then PIDC.PvRange =计1算pv 值的量程，并确保其不为零 PIDC.ChangeMax = PIDC.PvRange * PIDC.ChangeMax / 100 物理量 把 超调值由百分比转换成实际 If Pv PIDC.PvMin Then Pv = PIDC.PvMin 值p和v If Pv PIDC.PvMax Then Pv = PIDC.PvMax If Sv PIDC.PvMin Then Sv = PIDC.PvMin If Sv PIDC.SvMax Then Sv = PIDC.SvMax sv 值必须设定在设定的限值范围内 计算 sv 和 pv 的差值，第一次计算时，取SvPvdx1 、SvPvdx2 值和SvPvdx 相同PIDC.SvPvdx = Sv - Pv 初始设定 SvPvdx1 的初值为9999;标记是否第一次进行 pid计防止SvPvdx 和SvPvdx2 的值为0 If PIDC.SvPvdx1 = 9999 Then PIDC.SvPvdx1 = PIDC.SvPvdx PIDC.SvPvdx2 = PIDC.SvPvdx End If 进行 PID 运算，ParI=0 和 ParI0的算法不一样ControlT调:节周期,和设备的采集周期相同（单位为：秒） If PIDC.ParI 0 Then PIDC.OutDx = PIDC.ParP * (PIDC.SvPvdx - PIDC.SvPvdx1 + PIDC.SvPvdx * PIDC.ControlT / PIDC.ParI + _ (PIDC.SvPvdx - 2 * PIDC.SvPvdx1 + PIDC.SvPvdx2) * PIDC.ParD / PIDC.ControlT) Else PIDC.OutDx = PIDC.ParP * (PIDC.SvPvdx - PIDC.SvPvdx1 + (PIDC.SvPvdx - 2 * PIDC.SvPvdx1 + PIDC.SvPvdx2) * PIDC.ParD / PIDC.ControlT) End If PIDC.SvPvdx2 = PIDC.SvPvdx1 PIDC.SvPvdx1 = PIDC.SvPvdx 处在死区输出值保持不变 If Abs(PIDC.SvPvdx) Abs(PIDC.ChangeMin) Then PIDC.OutDx = 0 End If If PIDC.CtlDirection = 1 Then PIDC.OP = PIDC.OP + PIDC.OutDx 正向控制时的超调处理 If Abs(PIDC.SvPvdx) PIDC.ChangeMax And PIDC.ChangeMax 0 Then If PIDC.SvPvdx 0 Then PIDC.OP = PIDC.OutPutMax End If End If Else PIDC.OP = PIDC.OP - PIDC.OutDx 反向控制