pid_8h.html

ATtiny261 461 861 这份资料介绍了执行Attiny261 461 861微控制器系列正弦波驱动三相无刷直流电动机霍尔传感器。

<table cellspacing="5" cellpadding="0" border="0">
  <tr>
    <td>
      &nbsp;
    </td>
    <td>

<p>
PID Status. 
<p>
Setpoints and data used by the PID control algorithm    </td>
  </tr>
</table>
<hr><h2>Function Documentation</h2>
<a class="anchor" name="a8"></a><!-- doxytag: member="pid.h::pid_Controller" ref="a8" args="(int16_t setPoint, int16_t processValue, struct PID_DATA *pid_st)" --><p>
<table class="mdTable" cellpadding="2" cellspacing="0">
  <tr>
    <td class="mdRow">
      <table cellpadding="0" cellspacing="0" border="0">
        <tr>
          <td class="md" nowrap valign="top"><a class="el" href="stdint_8h.html#a57">int16_t</a> pid_Controller           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="stdint_8h.html#a57">int16_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>setPoint</em>, </td>
        </tr>
        <tr>
          <td class="md" nowrap align="right"></td>
          <td class="md"></td>
          <td class="md" nowrap><a class="el" href="stdint_8h.html#a57">int16_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>processValue</em>, </td>
        </tr>
        <tr>
          <td class="md" nowrap align="right"></td>
          <td class="md"></td>
          <td class="md" nowrap>struct <a class="el" href="structPID__DATA.html">PID_DATA</a> *&nbsp;</td>
          <td class="mdname" nowrap> <em>pid_st</em></td>
        </tr>
        <tr>
          <td class="md"></td>
          <td class="md">)&nbsp;</td>
          <td class="md" colspan="2"></td>
        </tr>
      </table>
    </td>
  </tr>
</table>
<table cellspacing="5" cellpadding="0" border="0">
  <tr>
    <td>
      &nbsp;
    </td>
    <td>

<p>
PID control algorithm. 
<p>
Calculates output from setpoint, process value and PID status.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>setPoint</em>&nbsp;</td><td>Desired value. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>processValue</em>&nbsp;</td><td>Measured value. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>pid_st</em>&nbsp;</td><td>PID status struct.</td></tr>
  </table>
</dl>

<p>
Definition at line <a class="el" href="pid_8c-source.html#l00064">64</a> of file <a class="el" href="pid_8c-source.html">pid.c</a>.
<p>
References <a class="el" href="pid_8h-source.html#l00041">PID_DATA::D_Factor</a>, <a class="el" href="pid_8h-source.html#l00039">PID_DATA::I_Factor</a>, <a class="el" href="pid_8h-source.html#l00033">PID_DATA::lastProcessValue</a>, <a class="el" href="pid_8h-source.html#l00055">MAX_I_TERM</a>, <a class="el" href="pid_8h-source.html#l00053">MAX_INT</a>, <a class="el" href="pid_8h-source.html#l00043">PID_DATA::maxError</a>, <a class="el" href="pid_8h-source.html#l00045">PID_DATA::maxSumError</a>, <a class="el" href="pid_8h-source.html#l00037">PID_DATA::P_Factor</a>, <a class="el" href="pid_8h-source.html#l00025">SCALING_FACTOR</a>, and <a class="el" href="pid_8h-source.html#l00035">PID_DATA::sumError</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00278">SpeedController()</a>.<div class="fragment"><pre class="fragment"><a name="l00065"></a>00065 {
<a name="l00066"></a>00066   <a class="code" href="stdint_8h.html#a57">int16_t</a> error, p_term, d_term;
<a name="l00067"></a>00067   <a class="code" href="stdint_8h.html#a59">int32_t</a> i_term, ret, temp;
<a name="l00068"></a>00068 
<a name="l00069"></a>00069   error = setPoint - processValue;
<a name="l00070"></a>00070 
<a name="l00071"></a>00071   <span class="comment">// Calculate Pterm and limit error overflow</span>
<a name="l00072"></a>00072   <span class="keywordflow">if</span> (error &gt; pid_st-&gt;<a class="code" href="structPID__DATA.html#o3">maxError</a>){
<a name="l00073"></a>00073     p_term = <a class="code" href="pid_8h.html#a1">MAX_INT</a>;
<a name="l00074"></a>00074   }
<a name="l00075"></a>00075   <span class="keywordflow">else</span> <span class="keywordflow">if</span> (error &lt; -pid_st-&gt;maxError){
<a name="l00076"></a>00076     p_term = -<a class="code" href="pid_8h.html#a1">MAX_INT</a>;
<a name="l00077"></a>00077   }
<a name="l00078"></a>00078   <span class="keywordflow">else</span>{
<a name="l00079"></a>00079     p_term = pid_st-&gt;<a class="code" href="structPID__DATA.html#o5">P_Factor</a> * error;
<a name="l00080"></a>00080   }
<a name="l00081"></a>00081 
<a name="l00082"></a>00082   <span class="comment">// Calculate Iterm and limit integral runaway</span>
<a name="l00083"></a>00083   temp = pid_st-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a> + error;
<a name="l00084"></a>00084   <span class="keywordflow">if</span>(temp &gt; pid_st-&gt;<a class="code" href="structPID__DATA.html#o4">maxSumError</a>){
<a name="l00085"></a>00085     i_term = <a class="code" href="pid_8h.html#a3">MAX_I_TERM</a>;
<a name="l00086"></a>00086     pid_st-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a> = pid_st-&gt;<a class="code" href="structPID__DATA.html#o4">maxSumError</a>;
<a name="l00087"></a>00087   }
<a name="l00088"></a>00088   <span class="keywordflow">else</span> <span class="keywordflow">if</span>(temp &lt; -pid_st-&gt;<a class="code" href="structPID__DATA.html#o4">maxSumError</a>){
<a name="l00089"></a>00089     i_term = -<a class="code" href="pid_8h.html#a3">MAX_I_TERM</a>;
<a name="l00090"></a>00090     pid_st-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a> = -pid_st-&gt;<a class="code" href="structPID__DATA.html#o4">maxSumError</a>;
<a name="l00091"></a>00091   }
<a name="l00092"></a>00092   <span class="keywordflow">else</span>{
<a name="l00093"></a>00093     pid_st-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a> = temp;
<a name="l00094"></a>00094     i_term = pid_st-&gt;<a class="code" href="structPID__DATA.html#o1">I_Factor</a> * pid_st-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a>;
<a name="l00095"></a>00095   }
<a name="l00096"></a>00096 
<a name="l00097"></a>00097   <span class="comment">// Calculate Dterm</span>
<a name="l00098"></a>00098   d_term = pid_st-&gt;<a class="code" href="structPID__DATA.html#o0">D_Factor</a> * (pid_st-&gt;<a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> - processValue);
<a name="l00099"></a>00099 
<a name="l00100"></a>00100   pid_st-&gt;<a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> = processValue;
<a name="l00101"></a>00101 
<a name="l00102"></a>00102   ret = (p_term + i_term + d_term) / <a class="code" href="pid_8h.html#a0">SCALING_FACTOR</a>;
<a name="l00103"></a>00103   <span class="keywordflow">if</span>(ret &gt; <a class="code" href="pid_8h.html#a1">MAX_INT</a>){
<a name="l00104"></a>00104     ret = <a class="code" href="pid_8h.html#a1">MAX_INT</a>;
<a name="l00105"></a>00105   }
<a name="l00106"></a>00106   <span class="keywordflow">else</span> <span class="keywordflow">if</span>(ret &lt; -<a class="code" href="pid_8h.html#a1">MAX_INT</a>){
<a name="l00107"></a>00107     ret = -<a class="code" href="pid_8h.html#a1">MAX_INT</a>;
<a name="l00108"></a>00108   }
<a name="l00109"></a>00109 
<a name="l00110"></a>00110   <span class="keywordflow">return</span>((<a class="code" href="stdint_8h.html#a57">int16_t</a>)ret);
<a name="l00111"></a>00111 }
</pre></div>
<p>
    </td>
  </tr>
</table>
<a class="anchor" name="a7"></a><!-- doxytag: member="pid.h::pid_Init" ref="a7" args="(int16_t p_factor, int16_t i_factor, int16_t d_factor, struct PID_DATA *pid)" --><p>
<table class="mdTable" cellpadding="2" cellspacing="0">
  <tr>
    <td class="mdRow">
      <table cellpadding="0" cellspacing="0" border="0">
        <tr>
          <td class="md" nowrap valign="top">void pid_Init           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="stdint_8h.html#a57">int16_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>p_factor</em>, </td>
        </tr>
        <tr>
          <td class="md" nowrap align="right"></td>
          <td class="md"></td>
          <td class="md" nowrap><a class="el" href="stdint_8h.html#a57">int16_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>i_factor</em>, </td>
        </tr>
        <tr>
          <td class="md" nowrap align="right"></td>
          <td class="md"></td>
          <td class="md" nowrap><a class="el" href="stdint_8h.html#a57">int16_t</a>&nbsp;</td>
          <td class="mdname" nowrap> <em>d_factor</em>, </td>
        </tr>
        <tr>
          <td class="md" nowrap align="right"></td>
          <td class="md"></td>
          <td class="md" nowrap>struct <a class="el" href="structPID__DATA.html">PID_DATA</a> *&nbsp;</td>
          <td class="mdname" nowrap> <em>pid</em></td>
        </tr>
        <tr>
          <td class="md"></td>
          <td class="md">)&nbsp;</td>
          <td class="md" colspan="2"></td>
        </tr>
      </table>
    </td>
  </tr>
</table>
<table cellspacing="5" cellpadding="0" border="0">
  <tr>
    <td>
      &nbsp;
    </td>
    <td>

<p>
Initialisation of PID controller parameters. 
<p>
Initialise the variables used by the PID algorithm.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>p_factor</em>&nbsp;</td><td>Proportional term. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>i_factor</em>&nbsp;</td><td>Integral term. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>d_factor</em>&nbsp;</td><td>Derivate term. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>pid</em>&nbsp;</td><td>Struct with PID status.</td></tr>
  </table>
</dl>

<p>
Definition at line <a class="el" href="pid_8c-source.html#l00040">40</a> of file <a class="el" href="pid_8c-source.html">pid.c</a>.
<p>
References <a class="el" href="pid_8h-source.html#l00041">PID_DATA::D_Factor</a>, <a class="el" href="pid_8h-source.html#l00039">PID_DATA::I_Factor</a>, <a class="el" href="pid_8h-source.html#l00033">PID_DATA::lastProcessValue</a>, <a class="el" href="pid_8h-source.html#l00055">MAX_I_TERM</a>, <a class="el" href="pid_8h-source.html#l00053">MAX_INT</a>, <a class="el" href="pid_8h-source.html#l00043">PID_DATA::maxError</a>, <a class="el" href="pid_8h-source.html#l00045">PID_DATA::maxSumError</a>, <a class="el" href="pid_8h-source.html#l00037">PID_DATA::P_Factor</a>, and <a class="el" href="pid_8h-source.html#l00035">PID_DATA::sumError</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00120">main()</a>.<div class="fragment"><pre class="fragment"><a name="l00042"></a>00042 {
<a name="l00043"></a>00043   <span class="comment">// Start values for PID controller</span>
<a name="l00044"></a>00044   pid-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;
<a name="l00045"></a>00045   pid-&gt;<a class="code" href="structPID__DATA.html#o2">lastProcessValue</a> = 0;
<a name="l00046"></a>00046   <span class="comment">// Tuning constants for PID loop</span>
<a name="l00047"></a>00047   pid-&gt;<a class="code" href="structPID__DATA.html#o5">P_Factor</a> = p_factor;
<a name="l00048"></a>00048   pid-&gt;<a class="code" href="structPID__DATA.html#o1">I_Factor</a> = i_factor;
<a name="l00049"></a>00049   pid-&gt;<a class="code" href="structPID__DATA.html#o0">D_Factor</a> = d_factor;
<a name="l00050"></a>00050   <span class="comment">// Limits to avoid overflow</span>
<a name="l00051"></a>00051   pid-&gt;<a class="code" href="structPID__DATA.html#o3">maxError</a> = <a class="code" href="pid_8h.html#a1">MAX_INT</a> / (pid-&gt;<a class="code" href="structPID__DATA.html#o5">P_Factor</a> + 1);
<a name="l00052"></a>00052   pid-&gt;<a class="code" href="structPID__DATA.html#o4">maxSumError</a> = <a class="code" href="pid_8h.html#a3">MAX_I_TERM</a> / (pid-&gt;<a class="code" href="structPID__DATA.html#o1">I_Factor</a> + 1);
<a name="l00053"></a>00053 }
</pre></div>
<p>
    </td>
  </tr>
</table>
<a class="anchor" name="a9"></a><!-- doxytag: member="pid.h::pid_Reset_Integrator" ref="a9" args="(pidData_t *pid_st)" --><p>
<table class="mdTable" cellpadding="2" cellspacing="0">
  <tr>
    <td class="mdRow">
      <table cellpadding="0" cellspacing="0" border="0">
        <tr>
          <td class="md" nowrap valign="top">void pid_Reset_Integrator           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="structPID__DATA.html">pidData_t</a> *&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>pid_st</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap></td>
        </tr>
      </table>
    </td>
  </tr>
</table>
<table cellspacing="5" cellpadding="0" border="0">
  <tr>
    <td>
      &nbsp;
    </td>
    <td>

<p>
Resets the integrator. 
<p>
Calling this function will reset the integrator in the PID controller.
<p>
Definition at line <a class="el" href="pid_8c-source.html#l00117">117</a> of file <a class="el" href="pid_8c-source.html">pid.c</a>.
<p>
References <a class="el" href="pid_8h-source.html#l00035">PID_DATA::sumError</a>.
<p>
Referenced by <a class="el" href="main_8c-source.html#l00643">CommutationTicksUpdate()</a>, and <a class="el" href="main_8c-source.html#l01029">FaultProtectionISR()</a>.<div class="fragment"><pre class="fragment"><a name="l00118"></a>00118 {
<a name="l00119"></a>00119   pid_st-&gt;<a class="code" href="structPID__DATA.html#o6">sumError</a> = 0;
<a name="l00120"></a>00120 }
</pre></div>
<p>
    </td>
  </tr>
</table>
<hr size="1"><address style="align: right;"><small>Generated on Mon May 29 10:58:57 2006 for AVR449 by&nbsp;
<a href="http://www.doxygen.org/index.html">
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.4 </small></address>
</body>
</html>