求一下增量式和位置式PID的C语言程序1

发布网友发布时间：2023-10-15 01:21

共1个回答

热心网友时间：2024-02-19 00:24

增量式PID：

typedef struct{
    float scope;        //输出限幅量
    float aim;       //目标输出量
    float real_out;     //实际输出量
    float Kp;
    float Ki;
    float Kd;
    float e0;          //当前误差
    float e1;          //上一次误差
    float e2;          //上上次误差
}PID_Type;

#define min(a, b)           (a<b? a:b)
#define max(a, b)           (a>b? a:b)
#define limiter(x, a, b)      (min(max(x, a), b))
#define exchange(a, b, tmp) (tmp=a, a=b, b=tmp)
#define myabs(x)            ((x<0)? -x:x)

float pid_acc(PID_Type *pid)
{
    float out;
    float ep, ei, ed;

    pid->e0 = pid->aim - pid->real_out;
    ep = pid->e0  - pid->e1;
    ei = pid->e0;
    ed = pid->e0 - 2*pid->e1 + pid->e2;
    out = pid->Kp*ep + pid->Ki*ei + pid->Kd*ed;
    out = limiter(out, -pid->scope, pid->scope);
    pid->e2 = pid->e1;
    pid->e1 = pid->e0;
    return out;
}

位置式PID：

typedef struct{
    float scope;    //输出限幅量
    float aim;   //目标输出量
    float real_out; //反馈输出量
    float Kp;
    float Ki;
    float Kd;
    float Sum;
    float e0;       //当前误差
    float e1;       //上一次误差
}PID_Type;

#define max(a, b)           (a>b? a:b)
#define min(a, b)           (a<b? a:b)
#define limiter(x, a, b)      (min(max(x, a), b))

float pid_pos(PID_Type *p)
{
    float pe, ie, de;
    float out = 0;

    p->e0 = p->aim - p->real_out;      //计算当前误差

    p->Sum += p->e0;       //误差积分

    de = p->e0 - p->e1;     //误差微分

    pe = p->e0;
    ie = p->Sum;

    p->e1 = p->e0;

    out = pe*(p->Kp) + ie*(p->Ki) + de*(p->Kd);

    out = limiter(out, -p->scope, p->scope);       //输出限幅
    return out;
}

亲手移植到我的stm32小车上调试3个参数后正常使用。