pidcontroller.cpp

vc++编写 三容水箱 PID控制

// PIDController.cpp: implementation of the PIDController class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "PIDController.h"
#include "Setting.h"
#include "ExternData.h"

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

#define DllImport __declspec(dllimport)
extern DllImport ExternData Dll_ExternData;
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

PIDController::PIDController()
{
	m_nType = CONTROLLER_PID;
	m_cstrName = "----PID控制";
	//private variables
	prev_u = 0.0;
	prev_e1 = prev_e2 = 0.0;
	//m_Ki = m_Kd = m_Kp = 1.0;
	m_Kp = 0.2;//0.000000001;
	m_Ki = 0.001;	//0.0002;
	m_Kd = 0.0;// 2;	//0.00001;
}

PIDController::~PIDController()
{

}

void PIDController::CalcU(const double *input, double *output, const double *reference)
{
	int indim = 0;	//the 1st AD variable
	int outdim = 0;	//the 1st DA variable

	double cur_err = reference[indim] - input[indim];
	
	double delta_u = 0.0;
	double integ_bound = 10.0;

	if(cur_err < integ_bound && cur_err > -integ_bound)
		delta_u = m_Kp * (cur_err - prev_e1) 
				+ m_Ki * cur_err
				+ m_Kd * (cur_err - 2*prev_e1 + prev_e2);
	else
		delta_u = m_Kp * (cur_err - prev_e1) 
				+ m_Kd * (cur_err - 2*prev_e1 + prev_e2);

	output[outdim] = prev_u + delta_u;

	//shift variables
	prev_e2 = prev_e1;
	prev_e1 = cur_err;
	prev_u = output[outdim];
	//limit the minimum value
	if(output[outdim] > -1.0 
		&& output[outdim] < Dll_ExternData.m_DASetting[outdim].m_MINVALIDU)		//special limit controller output
		output[outdim] = Dll_ExternData.m_DASetting[outdim].m_MINVALIDU;
}

void PIDController::Reset()
{
	prev_u = 0.0;
	prev_e1 = prev_e2 = 0.0;
}