PID-C语言实现_c语言代码怎么计算每次测量误差的微分-优快云博客

#include <stdio.h>

typedef struct {
    float Kp;           // 比例增益
    float Ki;           // 积分增益
    float Kd;           // 微分增益
    float previous_error; // 上一次的误差值，用于计算微分
    float integral;       // 积分累积量
    float output_limit;   // 输出限幅
} PID_Controller;




void PID_Init(PID_Controller *pid, float Kp, float Ki, float Kd, float output_limit) {
    pid->Kp = Kp;
    pid->Ki = Ki;
    pid->Kd = Kd;
    pid->previous_error = 0.0f;
    pid->integral = 0.0f;
    pid->output_limit = output_limit;
}



float PID_Update(PID_Controller *pid, float setpoint, float measured_value, float dt) {
    // 计算当前误差
    float error = setpoint - measured_value;

    // 比例项
    float proportional = pid->Kp * error;

    // 积分项（累积误差）
    pid->integral += error * dt;
    float integral = pid->Ki * pid->integral;

    // 微分项（误差变化率）
    float derivative = pid->Kd * (error - pid->previous_error) / dt;

    // 计算总输出
    float output = proportional + integral + derivative;

    // 更新上一次误差
    pid->previous_error = error;

    // 输出限幅，防止过大
    if (output > pid->output_limit) {
        output = pid->output_limit;
    } else if (output < -pid->output_limit) {
        output = -pid->output_limit;
    }

    return output;
}