pid.h

用ＴＭＳ３２０ＬＦ２４０７Ａ开发电机控制的源代码

/************************************************************************
Project name: 	motorTest.pjt
File name: 		pid.h
Author: 		胡天亮. 山东大学数控技术研究中心
Description:	Header file of pid programme
History:		(1)
*************************************************************************/
typedef struct 
{
	struct
	{
		double uc;				//输入命令值
		double y;				//实际测量值		
	}Signals;

	struct
	{	
		double u;				//实际控制器输出值
		double deta_u;
		double u_1;				//u[(k-1)t]
		double u_2;				//u[(k-2)t]
		double y_1;				//y[(k-1)t]
		double y_2;				//y[(k-2)t]
		double error;
		double error_1;
		double error_2;
		
		double kp;
		double ki;
		double kd;
	}States;

	struct
	{
		double x1;
		double x2;
		double x3;
	}Par;
} PIDDataStruct;