voypid.h

足球机器人功能demo

#ifndef _PID_H
#define _PID_H

typedef struct DDPID			//定义数法核心数据
{
	signed int ui_Ref;		//设定值
	signed int ui_FeedBack;	//反馈值
	
	signed int Ka;		 	//Ka = Kp
	signed int Kb;			//Kb = Kp * ( T / Ti )
	signed int Kc;
	
	signed long U_MAX;		//输出上限，使控制信号扩大,以使过渡平顺	
	signed long U_MIN;		//输出下限，
	signed int PLUS_DEADLINE;	//偏差死限的上限
	signed int MINUS_DEADLINE; 	//偏差死限的下限
	
	signed int ui_PreError;	  	//前一次，误差,,ui_Ref - FeedBack
	signed int ui_PreDerror;	//前一次，误差之差，d_error-PreDerror;
	signed long ul_PreU;
}DDPID;

typedef struct SSPID			//定义数法核心数据
{
	signed long si_Ref;		//位置PID，位移设定值
	signed long si_FeedBack;	//位置PID，位移反馈值,当前位置

	signed long si_PreError;	//位置PID，前一次，位移误差,ui_Ref - FeedBack
	signed long si_PreIntegral;	//位置PID，前一次，位移积分项，ui_PreIntegral+ui

	signed int si_Kp;		//位置PID，比例系数	
	signed int si_Ki;		//位置PID，积分系数	
	signed int si_Kd;		//位置PID，微分系数
	
	signed long SS_MAX;		//输出上限，使控制信号扩大,以使过渡平顺	
	signed long SS_MIN;		//输出下限，
	signed long SS_Imax;		//积分饱和上限
	signed long SS_Imin;		//积分饱和下限
	signed int PLUS_DEADLINE;	//偏差死限的上限
	signed int MINUS_DEADLINE; 	//偏差死限的下限
	
	signed int si_Accel;		//位置PID，加速度
	signed int si_Speed;		//位置PID，最大速度	
	
	signed long ul_PreU;		//电机控制输出值

}SSPID;


extern signed int PIDCalc( DDPID *pp );


extern signed int SSPIDCalc( SSPID *pp );

#endif