pidreg.cpp

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// PidReg.cpp : implementation file
//

#include "stdafx.h"
//#include "profibus.h"
#include "PidReg.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CPidReg


CPidReg::CPidReg()
{
	   Kp=1;
	   Kf=2200;
		Ki=0;
		Kd=0;
	
	out_k1=0;       
	e_k1=0;
	e_k2=0;
	e_k=1310720;
	
	out_max=500;
	out_min=-500;
	 Remain=0;
}

CPidReg::~CPidReg()
{
}


CPidReg::PidReg(int ref,int fb,int ff)
{		
	long  tmp1,tmp2,tmp3;
     tmp1=0;
	 tmp2=0;
	 tmp3=0;
	
	pid_ref=ref;
	pid_fb=fb;
	K0=Kp+Ki+Kd;
	K1=Kd*2+Kp;
	K2=Kd;
	
	e_k-=pid_fb;
	tmp1=-K1*e_k1+K2*e_k2;
	
	tmp2=K0*e_k;
	tmp3=tmp2+tmp1;
	
	
	out=out_k1+tmp3;
	int temp=4;
	Remain+=out%temp;
	
	out/=temp;


	if(out>out_max)
		out=out_max;
	if(out<out_min)
		out=out_min;

	return 1 ;
	
}




/////////////////////////////////////////////////////////////////////////////
// CPidReg message handlers