C语言实现PID算法

1、C语言实现PID算法#includestruct_pidintpv;/*integerthatcontainstheprocessvalue*/intsp;/*integerthatcontainsthesetpoint*/floatintegral;floatpgain;floatigain;floatdgain;intdeadband;intlast_error;struct_pidwarm,*pid;intprocess_point,set_point,dead_band;floatp_gain,i_gain,d_gain,integral_val,new_integ;/*pid_ini

2、tDESCRIPTIONThisfunctioninitializesthepointersinthe_pidstructuretotheprocessvariableandthesetpoint.*pvand*spareintegerpointers.*/voidpid_init(struct_pid*warm,intprocess_point,intset_point)struct_pid*pid;pid=warm;pid-pv=process_point;pid-sp=set_point;/*pid_tuneDESCRIPTIONSetstheproportionalgain(p_gai

3、n),integralgain(i_gain),derivitivegain(d_gain),andthedeadband(dead_band)ofapidcontrolstructure_pid.*/voidpid_tune(struct_pid*pid,floatp_gain,floati_gain,floatd_gain,intdead_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

4、_setintegDESCRIPTIONSetanewvaluefortheintegraltermofthepidequation.Thisisusefulforsettingtheinitialoutputofthepidcontrolleratstartup.*/voidpid_setinteg(struct_pid*pid,floatnew_integ)pid-integral=new_integ;pid-last_error=0;/*pid_bumplessDESCRIPTIONBumplesstransferalgorithim.Whensuddenlychangingsetpoi

5、nts,orwhenrestartingthePIDequationafteranextendedpause,thederivativeoftheequationcancauseabumpinthecontrolleroutput.Thisfunctionwillhelpsmoothoutthatbump.Theprocessvaluein*pvshouldbetheupdatedjustbeforethisfunctionisused.*/voidpid_bumpless(struct_pid*pid)pid-last_error=(pid-sp)-(pid-pv);/*pid_calcDE

6、SCRIPTIONPerformsPIDcalculationsforthe_pidstructure*a.Thisfunctionusesthepositionalformofthepidequation,andincorporatesanintegralwinduppreventionalgorithim.Rectangularintegrationisused,sothisfunctionmustberepeatedonaconsistenttimebasisforaccuratecontrol.RETURNVALUEThenewoutputvalueforthepidloop.USAG

7、E#includecontrol.h*/floatpid_calc(struct_pid*pid)interr;floatpterm,dterm,result,ferror;err=(pid-sp)-(pid-pv);if(abs(err)pid-deadband)ferror=(float)err;/*dointegertofloatconversiononlyonce*/pterm=pid-pgain*ferror;if(pterm100|ptermintegral=0.0;elsepid-integral+=pid-igain*ferror;if(pid-integral100.0)pi

8、d-integral=100.0;elseif(pid-integralintegral=0.0;dterm=(float)(err-pid-last_error)*pid-dgain;result=pterm+pid-integral+dterm;elseresult=pid-integral;pid-last_error=err;return(result);voidmain(void)floatdisplay_value;intcount=0;pid=&warm;/printf(EnterthevaluesofProcesspoint,Setpoint,Pgain,Igain,Dgain

9、n);/scanf(%d%d%f%f%f,&process_point,&set_point,&p_gain,&i_gain,&d_gain);process_point=30;set_point=40;p_gain=(float)(5.2);i_gain=(float)(0.77);d_gain=(float)(0.18);dead_band=2;integral_val=(float)(0.01);printf(ThevaluesofProcesspoint,Setpoint,Pgain,Igain,Dgainn);printf(%6d%6d%4f%4f%4fn,process_point

10、,set_point,p_gain,i_gain,d_gain);printf(EnterthevaluesofProcesspointn);while(count4095000)PID_UK=4095000;elseif(PID_UKSetPoint-NextPoint;/偏差pp-SumError+=Error;/积分dError=pp-LastError-pp-PrevError;/当前微分pp-PrevError=pp-LastError;pp-LastError=Error;return(pp-Proportion*Error/比例项+pp-Integral*pp-SumError/

11、积分项+pp-Derivative*dError/微分项);/*=InitializePIDStructure=*/voidPIDInit(PID*pp)memset(pp,0,sizeof(PID);/*=MainProgram=*doublesensor(void)/DummySensorFunctionreturn100.0;voidactuator(doublerDelta)/DummyActuatorFunctionvoidmain(void)PIDsPID;/PIDControlStructuredoublerOut;/PIDResponse(Output)doublerIn;/PIDFeedback(Input)PIDInit(&sPID);/InitializeStructuresPID.Proportion=0.5;/SetPIDCoefficientssPID.Integral=0.5;sPID.De