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1、PID控制算法的C语言实现四 增量型PID的C语言实现 上一节中介绍了最简单的位置型PID的实现手段，这一节主要讲解增量式PID的实现方法，位置型和增量型PID的数学公式。实现过程仍然是分为定义变量、初始化变量、实现控制算法函数、算法测试四个部分，详细分类请参加PID控制算法的C语言实现三中的讲解，这里直接给出代码了。/* PID.c*/#include#includestruct _pid float SetSpeed; /定义设定值 float ActualSpeed; /定义实际值 float err; /定义偏差值 float err_next; /定义上一个偏差值 float err
2、_last; /定义最上前的偏差值 float Kp,Ki,Kd; /定义比例、积分、微分系数pid;void PID_init() pid.SetSpeed=0.0; pid.ActualSpeed=0.0; pid.err=0.0; pid.err_last=0.0; pid.err_next=0.0; pid.Kp=0.2; pid.Ki=0.015; pid.Kd=0.2;float PID_realize(float speed) pid.SetSpeed=speed; pid.err=pid.SetSpeed-pid.ActualSpeed; float incrementSpee
3、d=pid.Kp*(pid.err-pid.err_next)+pid.Ki*pid.err+pid.Kd*(pid.err-2*pid.err_next+pid.err_last); pid.ActualSpeed+=incrementSpeed; pid.err_last=pid.err_next; pid.err_next=pid.err; return pid.ActualSpeed;int main() PID_init(); int count=0; while(count1000) float speed=PID_realize(200.0); printf(%fn,speed)
4、; count+; return 0;运行后的1000个数据为：83.11.59.28.52.38.51.46.53.51.55.55.58.59.62.63.65.67.68.70.72.73.75.76.78.79.81.82.84.85.87.88.89.91.92.94.95.96.97.99.100.101.102.104.105.106.107.108.110.111.112.113.114.115.116.117.118.119.120.121.122.123.124.125.126.127.128.129.130.130.131.132.133.134.135.135.136.
5、137.138.139.139.140.141.142.142.143.144.144.145.146.146.147.148.148.149.150.150.151.152.152.153.153.154.154.155.156.156.157.157.158.158.159.159.160.160.161.161.162.162.163.163.164.164.164.165.165.166.166.167.167.167.168.168.169.169.169.170.170.170.171.171.172.172.172.173.173.173.174.174.174.175.175.
6、175.175.176.176.176.177.177.177.178.178.178.178.179.179.179.179.180.180.180.180.181.181.181.181.182.182.182.182.182.183.183.183.183.183.184.184.184.184.184.185.185.185.185.185.186.186.186.186.186.186.187.187.187.187.187.187.187.188.188.188.188.188.188.188.189.189.189.189.189.189.189.190.190.190.190.
7、190.190.190.190.190.191.191.191.191.191.191.191.191.191.192.192.192.192.192.192.192.192.192.192.192.193.193.193.193.193.193.193.193.193.193.193.193.194.194.194.194.194.194.194.194.194.194.194.194.194.194.195.195.195.195.195.195.195.195.195.195.195.195.195.195.195.195.195.195.196.196.196.196.196.196.
8、196.196.196.196.196.196.196.196.196.196.196.196.196.196.196.196.196.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.197.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.
9、198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.198.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.
10、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.
11、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.
12、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.
13、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.
14、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.
15、199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.199.
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