pid.h

来自「luminary芯片直流无刷电机控制程序」· C头文件 代码 · 共 72 行

//*****************************************************************************
//
// pid.h - Prototypes for the PID feedback control algorithm.
//
// Copyright (c) 2005,2006 Luminary Micro, Inc.  All rights reserved.
//
// Software License Agreement
//
// Luminary Micro, Inc. (LMI) is supplying this software for use solely and
// exclusively on LMI's microcontroller products.
//
// The software is owned by LMI and/or its suppliers, and is protected under
// applicable copyright laws.  All rights are reserved.  Any use in violation
// of the foregoing restrictions may subject the user to criminal sanctions
// under applicable laws, as well as to civil liability for the breach of the
// terms and conditions of this license.
//
// THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
// LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
// CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
//
// This is part of revision 196 of an01238.
//
//*****************************************************************************

#ifndef __PID_H__
#define __PID_H__

//*****************************************************************************
//
// The internal state of the PID algorithm.
//
//*****************************************************************************
typedef struct
{
    //
    // The integrator, along with its value limits.
    //
    long lIntegrator;
    long lIntegMax;
    long lIntegMin;

    //
    // The position from the previous call to the algorithm.  This is used for
    // determining the derivitive of the position.
    //
    long lPrevPosition;

    //
    // The gain factors for the algorithm.
    //
    long lPGain;
    long lIGain;
    long lDGain;
}
tPIDState;

//*****************************************************************************
//
// Prototypes for the PID algorithm APIs.
//
//*****************************************************************************
extern void PIDInitialize(tPIDState *psState, long lIntegMax, long lIntegMin,
                          long lPGain, long lIGain, long lDGain);
extern void PIDSetGains(tPIDState *psState, long lPGain, long lIGain,
                        long lDGain);
extern long PIDUpdate(tPIDState *psState, long lPosition, long lError);

#endif // __PID_H__