PID 算法（c 语言)（来自老外） (2010-02-17 00:18:24) 转载 #include #include //定义 PID的结构体 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 initi...
