PID控制算法的C语言实现四-增量型PID的C语言实现.docx

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1、PID控制算法的C语言实现四增量型PID的C语言实现  上一节中介绍了最简单的位置型PID的实现手段，这一节主要讲解增量式PID的实现方法，位置型和增量型PID的数学公式。实现过程仍然是分为定义变量、初始化变量、实现控制算法函数、算法测试四个部分，详细分类请参加《PID控制算法的C语言实现三》中的讲解，这里直接给出代码了。/* *PID.c * * /#include#includestruct_pid{   floatSetSpeed;         //定义设定值   floatActualSpeed;      //定义实际值   floaterr

2、;            //定义偏差值   floaterr_next;         //定义上一个偏差值   floaterr_last;         //定义最上前的偏差值   floatKp,Ki,Kd;         //定义比例、积分、微分系数}pid;voidPID_init(){   pid.SetSpeed=0.0;   pid.ActualSpeed=0.0;   pid.err=0.0;   pid.err_last=0.0;   pid.err_next=0.0;   pid.Kp=0.2;   pid.Ki=0.015;   pid.Kd=0.2;}floa

3、tPID_realize(floatspeed){   pid.SetSpeed=speed;   pid.err=pid.SetSpeed-pid.ActualSpeed;   floatincrementSpeed=pid.Kp*(pid.err-pid.err_next)+pid.Ki*pid.err+pid.Kd*(pid.err-2*pid.err_next+pid.err_last);   pid.ActualSpeed+=incrementSpeed;   pid.err_last=pid.err_next;   pid.err_next=pid.err;   returnpid

4、.ActualSpeed;}intmain(){   PID_init();   intcount=0;   while(count<1000)   {      floatspeed=PID_realize(200.0);      printf("%f",speed);      count++;   }   return0;}运行后的1000个数据为：83.11.59.28.52.38.51.46.53.51.55.55.58.59.62.63.65.67.68.70.72.73.75.76.78.79.81.82.84.85.87.88.89.91.92.94.95.96.97.9

5、9.100.101.102.104.105.106.107.108.110.111.112.113.114.115.116.117.118.119.120.121.122.123.124.125.126.127.128.129.130.130.131.132.133.134.135.135.136.137.138.139.139.140.141.142.142.143.144.144.145.146.146.147.148.148.149.150.150.151.152.152.153.153.154.154.155.156.156.157.157.158.158.159.159.160.16

6、0.161.161.162.162.163.163.164.164.164.165.165.166.166.167.167.167.168.168.169.169.169.170.170.170.171.171.172.172.172.173.173.173.174.174.174.175.175.175.175.176.176.176.177.177.177.178.178.178.178.179.179.179.179.180.180.180.180.181.181.181.181.182.182.182.182.182.183.183.183.183.183.184.184.184.18

7、4.184.185.185.185.185.185.186.186.186.186.186.186.187.187.187.187.187.187.187.188.188.188.188.188.188.188.189.189.189.189.189.189.189.190.190.190.190.190.190.190.190.190.191.191.191.191.191.191.191.19