pid_8c.html

AVR单片机模糊控制器设计源码HOWTO

00094 
00095   pid_st-&gt;<a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> = processValue;
00096 
00097   ret = (p_term + i_term + d_term) / <a class="code" href="pid_8h.html#a0">SCALING_FACTOR</a>;
00098   <span class="keywordflow">if</span>(ret &gt; <a class="code" href="pid_8h.html#a1">MAX_INT</a>){
00099     ret = <a class="code" href="pid_8h.html#a1">MAX_INT</a>;
00100   }
00101   <span class="keywordflow">else</span> <span class="keywordflow">if</span>(ret &lt; -<a class="code" href="pid_8h.html#a1">MAX_INT</a>){
00102     ret = -<a class="code" href="pid_8h.html#a1">MAX_INT</a>;
00103   }
00104 
00105   <span class="keywordflow">return</span>((<a class="code" href="stdint_8h.html#a57">int16_t</a>)ret);
00106 }
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<a class="anchor" name="a0" doxytag="pid.c::pid_Init" ></a><p>
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          <td class="md" nowrap valign="top"> void pid_Init           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="stdint_8h.html#a57">int16_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>p_factor</em>, </td>
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          <td class="md" nowrap><a class="el" href="stdint_8h.html#a57">int16_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>i_factor</em>, </td>
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          <td class="md" nowrap align="right"></td>
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          <td class="md" nowrap><a class="el" href="stdint_8h.html#a57">int16_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>d_factor</em>, </td>
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          <td class="md" nowrap align="right"></td>
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          <td class="md" nowrap>struct <a class="el" href="structPID__DATA.html">PID_DATA</a> *&nbsp;</td>
          <td class="mdname" nowrap> <em>pid</em></td>
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          <td></td>
          <td class="md">)&nbsp;</td>
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<p>
Initialisation of PID controller parameters. 
<p>
Initialise the variables used by the PID algorithm.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td></td><td valign=top><em>p_factor</em>&nbsp;</td><td>Proportional term. </td></tr>
    <tr><td></td><td valign=top><em>i_factor</em>&nbsp;</td><td>Integral term. </td></tr>
    <tr><td></td><td valign=top><em>d_factor</em>&nbsp;</td><td>Derivate term. </td></tr>
    <tr><td></td><td valign=top><em>pid</em>&nbsp;</td><td>Struct with PID status. </td></tr>
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<p>
Definition at line <a class="el" href="pid_8c-source.html#l00035">35</a> of file <a class="el" href="pid_8c-source.html">pid.c</a>.
<p>
References <a class="el" href="pid_8h-source.html#l00041">PID_DATA::D_Factor</a>, <a class="el" href="pid_8h-source.html#l00039">PID_DATA::I_Factor</a>, <a class="el" href="pid_8h-source.html#l00033">PID_DATA::lastProcessValue</a>, <a class="el" href="pid_8h-source.html#l00055">MAX_I_TERM</a>, <a class="el" href="pid_8h-source.html#l00053">MAX_INT</a>, <a class="el" href="pid_8h-source.html#l00043">PID_DATA::maxError</a>, <a class="el" href="pid_8h-source.html#l00045">PID_DATA::maxSumError</a>, <a class="el" href="pid_8h-source.html#l00037">PID_DATA::P_Factor</a>, and <a class="el" href="pid_8h-source.html#l00035">PID_DATA::sumError</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00075">Init()</a>.
<p>
<pre class="fragment"><div>00037 {
00038   <span class="comment">// Start values for PID controller</span>
00039   pid-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;
00040   pid-&gt;<a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> = 0;
00041   <span class="comment">// Tuning constants for PID loop</span>
00042   pid-&gt;<a class="code" href="structPID__DATA.html#o5">P_Factor</a> = p_factor;
00043   pid-&gt;<a class="code" href="structPID__DATA.html#o1">I_Factor</a> = i_factor;
00044   pid-&gt;<a class="code" href="structPID__DATA.html#o0">D_Factor</a> = d_factor;
00045   <span class="comment">// Limits to avoid overflow</span>
00046   pid-&gt;<a class="code" href="structPID__DATA.html#o3">maxError</a> = <a class="code" href="pid_8h.html#a1">MAX_INT</a> / (pid-&gt;<a class="code" href="structPID__DATA.html#o5">P_Factor</a> + 1);
00047   pid-&gt;<a class="code" href="structPID__DATA.html#o4">maxSumError</a> = <a class="code" href="pid_8h.html#a3">MAX_I_TERM</a> / (pid-&gt;<a class="code" href="structPID__DATA.html#o1">I_Factor</a> + 1);
00048 }
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          <td class="md" nowrap valign="top"> void pid_Reset_Integrator           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="structPID__DATA.html">pidData_t</a> *&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>pid_st</em>          </td>
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<p>
Resets the integrator. 
<p>
Calling this function will reset the integrator in the PID regulator. 
<p>
Definition at line <a class="el" href="pid_8c-source.html#l00112">112</a> of file <a class="el" href="pid_8c-source.html">pid.c</a>.
<p>
References <a class="el" href="pid_8h.html#a6">pidData_t</a>, and <a class="el" href="pid_8h-source.html#l00035">PID_DATA::sumError</a>.
<p>
<pre class="fragment"><div>00113 {
00114   pid_st-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;
00115 }
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