PID算法实例.docx

C的PIC算法，适合带算法器的MCU或DSP。typedef struct PID { DWORD? SetPoint;???//? 设定目标 Desired Value WORD? P;???????? ???//? 比例常数 Proportional Const WORD? I;???????? ???//? 积分常数 Integral Const WORD? D;???????? ???//? 微分常数 Derivative Const long? LastError;??????? ?//? Error[-1] long? PrevError;??????? ?//? Error[-2] long? SumError;????//? Sums of Errors}PID;_PERSISTENT PID pid;long calmul(long val,WORD mul){?DWORD tmp;?bool flag;??if(val 0){?flag = true;?}else{?flag = false;??val = labs(val);??}?tmp = (DWORD)val * (DWORD)mul;?tmp /= 4096UL;??if(!flag)?return (long)(0 - (long)tmp);?else?return (long)tmp;??}long PIDCalc(long ThisPoint ){ long? dError,Error; Error = (long)pid.SetPoint - (long)ThisPoint;????????? // 偏差?//?? Error = (long)ThisPoint - (long)pid.SetPoint ;?? pid.SumError += Error;????????????????????? // 积分?? if(pid.SumError 1000000l)?pid.SumError = 1000000l; else if(pid.SumError -1000000l)?pid.SumError = -1000000l;?? dError = pid.LastError - pid.PrevError;???? // 当前微分?? pid.PrevError = pid.LastError;?? pid.LastError = Error;?? Error = calmul(Error , pid.P); Error += calmul(pid.SumError , pid.I); Error += calmul(dError , pid.D);?? return Error;???????//?? return (pid.P * Error??????????? // 比例项?//?? ?+?? pid.I * pid.SumError?????? // 积分项?//??+?? pid.D * dError???????????? // 微分项?//?);}void PIDInit (){ pid.SumError = 0; pid.LastError = 0; pid.PrevError = 0; pid.P = 2; pid.I = 1; pid.D = 3;}要注意的是，对于调节频率较低的电源来说，适宜采用位置式pid。否则可能系统较难闭环稳定，尤其是全负载范围。哎呀：李哥你忙不忙？写个PI程序清风：那个是要调试的，写容易，调试麻烦，很急？哎呀：不呀，我想看看清风：想看看的话我还是再找找，应该有的，以前写过哎呀：呵呵。就是不懂清风：一般的都不用单片机写，都是DSP，用单片机的话，要点是不用乘除法，不然没速度。清风：看见变量定义没？ #define? ?P?????? e[20]??? ?// 比例项? #define?? I?????? e[21]???? // 积分项 #define?? YT????? e[22]??? ?// 调节因子 #define?? YP???????? 2????? // 比例因子 #define?? YI???????? 3????? // 积分因子 #define?? YB?????? 200??? ? // 饱和因子 #define? ?YF???????? 4????? // 调频因子 #define?? B??????? 400???? ?// 调节目标哎呀：没看见算式清风：没有啊？那可能是没写，或者没用上哎呀：哦清风：有这些变量定义，写就很容易，我口头描述一下：YT是调节因子，就是占空调整几格的意思，所有计算都归结到它这YT=PYP+IYI，就这样简单，非常简单哎呀：不懂你的意