PID算法C语言汇总.doc

PID算法（c语言) #include stdio.h#includemath.h 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 initial output of the pid controller at start up.设定输出初始值//－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－void pid_setinteg(struct _pid *pid,float new_integ){pid-integral = new_integ;pid-last_error = 0;} //－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－pid_bumpless DESCRIPTION Bumpless transfer algorithim.When suddenly changing setpoints, or when restarting the PID equation after an extended pause,the derivative of the equation can cause a bump in the controller output. This function will help smooth out that bump.The process value in *pv