增量式pid的c语言程序,增量式PID-简单C语言程序实现（源码）

PID结构体

typedef struct

{

float P;

float P_OUT;

float I;

float I_OUT;

float I_LIMIT;

float D;

float D_OUT;

float OUT;

float OUT_LIMIT;

float err;

float err_err;

float err_old;

}PID_TypeDef;

PID参数初始化

void PID_Init(void)

{

/**转速PID*/

motor.PID_SPEED[MOTOR1].P = 7.0f;

motor.PID_SPEED[MOTOR1].I = 0.1f;

motor.PID_SPEED[MOTOR1].D = 0.0f;

motor.PID_SPEED[MOTOR1].I_LIMIT = 1000;

motor.PID_SPEED[MOTOR1].OUT_LIMIT = 5000;

}

PID主函数

float PID_Cal(PID_TypeDef *PID, float get, float set)

{

PID->err = set - get;

PID->err_err = PID->err - PID->err_old;

PID->P_OUT = PID->P * PID->err;

PID->I_OUT += PID->I * PID->err;

PID->D_OUT = PID->D * PID->err_err;

PID->I_OUT = (PID->I_OUT > PID->I_LIMIT)?(PID->I_LIMIT):((PID->I_OUT < -PID->I_LIMIT)?(-PID->I_LIMIT):(PID->I_OUT));

PID->OUT = PID->P_OUT + PID->I_OUT + PID->D_OUT;

PID->OUT = (PID->OUT > PID->OUT_LIMIT)?(PID->OUT_LIMIT):((PID->OUT < -PID->OUT_LIMIT)?(-PID->OUT_LIMIT):(PID->OUT));

PID->err_old = PID->err;

return PID->OUT;

}

很简单的PID函数