#include #include //C语言中memset函数头文件
#define unsigned int uint typedefstructPID {double SetPoint; //设定目标Desired value
double Proportion; //比例常数Proportional Const
double Integral; //积分常数Integral Const
double Derivative; //微分常数Derivative Const
double LastError; //Error[-1]
double PrevError; //Error[-2]
double SumError; //Sums of Errors
}PID;
/*================================================
====================================================PID计算部分 =======================
==============================================================================*/
double PIDCalc( PID *pp, doubleNextPoint )
{doubledError, Error;
Error= pp->SetPoint - NextPoint; //偏差
pp->SumError += Error; //积分
dError = Error - pp->LastError; //当前微分
pp->PrevError = pp->LastError;
pp->LastError =Error;return (pp->Proportion * Error //比例项
+ pp->Integral * pp->SumError //积分项
+ pp->Derivative * dError //微分项
);
}/*=======================================================
============================================= Initialize PID Structure PID参数初始化 =============
========================================================================================*/
void PIDInit (PID *pp)
{
memset ( pp,0,sizeof(PID));
}/*======================================================
============================================== Main Program 主程序 ===================
==================================================================================*/
double sensor (void) //Dummy Sensor Function
{return 100.0;
}//void actuator(double rDelta)//Dummy Actuator Function//{}
void main(void) {
PID sPID;//PID Control Structure
double rOut; //PID Response (Output)
double rIn; //PID Feedback (Input)
PIDInit ( &sPID ); //Initialize Structure
sPID.Proportion = 0.5; //Set PID Coefficients
sPID.Integral = 0.5;
sPID.Derivative= 0.0;
sPID.SetPoint= 100.0; //Set PID Setpoint
for (;;) { //
Mock Up of PID Processing
rIn= sensor (); //Read Input
rOut = PIDCalc ( &sPID,rIn ); //Perform PID Interation//actuator ( rOut );//Effect Needed Changes
}
}
