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📄 比较典型的pid算法控制程序源代码_单片机系统设计，智能控制．.htm

📁 关于PID算法的一些说明和应用！适合做精确控制的工程
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<DIV class=tit>比较典型的PID算法控制程序源代码</DIV>
<DIV class=date>2007-06-07 22:37</DIV>
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      <DIV class=cnt><FONT 
      face=宋体>/*====================================================================================================<BR>这是一个比较典型的PID处理程序，在使用单片机作为控制cpu时，请稍作简化，具体的PID参数必须由具体对象通过实验确定。由于单片机的处理速度和ram资源的限制，一般不采用浮点数运算，而将所有参数全部用整数，运算<BR>到最后再除以一个2的N次方数据（相当于移位），作类似定点数运算，可大大提高运算速度，根据控制精度的不同要求，当精度要求很高时，注意保留移位引起的“余数”，做好余数补偿。这个程序只是一般常用pid算法的基本架构，没有包含输入输出处理部分。<BR>=====================================================================================================*/<BR>#include<BR>#include<BR>/*====================================================================================================<BR>PID 
      Function<BR>The PID (比例、积分、微分) function is used in mainly<BR>control 
      applications. PIDCalc performs one iteration of the 
      PID<BR>algorithm.<BR>While the PID function works, main is just a dummy 
      program showing<BR>a typical 
      usage.<BR>=====================================================================================================*/<BR>typedef 
      struct PID {<BR>double SetPoint; // 设定目标Desired <EM>value</EM><BR>double 
      Proportion; // 比例常数Proportional Const<BR>double Integral; // 积分常数Integral 
      Const<BR>double Derivative; // 微分常数Derivative Const<BR>double LastError; 
      // Error[-1]<BR><BR>double PrevError; // Error[-2]<BR>double SumError; // 
      Sums of Errors<BR>} 
      PID;<BR>/*====================================================================================================<BR>PID计算部分<BR>=====================================================================================================*/<BR>double 
      PIDCalc( PID *pp, double NextPoint )<BR>{<BR>double 
      dError,<BR>Error;<BR>Error = pp-&gt;SetPoint - NextPoint; // 
      偏差<BR>pp-&gt;SumError += Error; // 积分<BR>dError = pp-&gt;LastError - 
      pp-&gt;PrevError; // 当前微分<BR>pp-&gt;PrevError = 
      pp-&gt;LastError;<BR>pp-&gt;LastError = Error;<BR>return 
      (pp-&gt;Proportion * Error // 比例项<BR>+ pp-&gt;Integral * pp-&gt;SumError 
      // 积分项<BR>+ pp-&gt;Derivative * dError // 
      微分项<BR>);<BR>}<BR>/*====================================================================================================<BR>Initialize 
      PID 
      Structure<BR>=====================================================================================================*/<BR>void 
      PIDInit (PID *pp)<BR>{<BR>memset ( 
      pp,0,sizeof(PID));<BR>}<BR>/*====================================================================================================<BR>Main 
      Program<BR>=====================================================================================================*<BR>double 
      sensor (void) // Dummy Sensor Function<BR>{<BR>return 100.0;<BR>}<BR>void 
      actuator(double rDelta) // Dummy Actuator Function<BR>{}<BR>void 
      main(void)<BR>{<BR>PID sPID; // PID Control Structure<BR>double rOut; // 
      PID Response (Output)<BR>double rIn; // PID Feedback (Input)<BR>PIDInit ( 
      &amp;sPID ); // Initialize Structure<BR>sPID.Proportion = 0.5; // Set PID 
      Coefficients<BR>sPID.Integral = 0.5;<BR>sPID.Derivative = 
      0.0;<BR>sPID.SetPoint = 100.0; // Set PID Setpoint<BR>for (;;) { // Mock 
      Up of PID Processing<BR>rIn = sensor (); // Read Input<BR>rOut = PIDCalc ( 
      &amp;sPID,rIn ); // Perform PID Interation<BR>actuator ( rOut ); // Effect 
      Needed Changes<BR>}</FONT></DIV></TD></TR></TBODY></TABLE><BR>
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