PID控制算法C语言.doc

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1、PID控制算法位置型公式u(k)=Kp((err(k))+T/Ti∑err(j)+Td/T(err(k)-err(k-1)))T/Ti即为KiTd/T即为Kd#include#includeusingnamespacestd;struct{floatsetnum;floatactualnum;floaterr;floatlasterr;floatkp,ki,kd;floatcontrolmachine;floatsumerr;}pid;voidPID(){pid.setnum=0.0;pid.actualnum=0.0;pi

2、d.err=0.0;pid.lasterr=0.0;pid.controlmachine=0.0;pid.sumerr=0.0;pid.kp=0.2;pid.ki=0.015;pid.kd=0.2;}floatrealizepid(floatnum){pid.setnum=num;pid.err=pid.setnum-pid.actualnum;pid.sumerr+=pid.err;pid.controlmachine=pid.kp*pid.err+pid.ki*pid.sumerr+pid.kd*(pid.err-pid.lasterr);pid.laste

3、rr=pid.err;pid.actualnum=pid.controlmachine*1.0;returnpid.actualnum;}intmain(){PID();intcount=0;while(count<1000){floatnum;num=realizepid(200.0);printf("%f",num);count++;}return0;}增量型公式：Δu(k)=Kp(err(k)-err(k-1))+Kierr(k)+Kd(err(k)-2err(k-1)+err(k-2))#include#include

4、.h>#includeusingnamespacestd;struct{floatsetnum;floatactualnum;floaterr;floatnexterr;floatlasterr;floatkp,ki,kd;floatcontrolmachine;floatsumerr;}pid;voidPID(){pid.setnum=0.0;pid.actualnum=0.0;pid.err=0.0;pid.nexterr=0.0;pid.lasterr=0.0;pid.controlmachine=0.0;pid.sumerr=0.0;

5、pid.kp=0.2;pid.ki=0.015;pid.kd=0.2;}floatrealizepid(floatnum){pid.setnum=num;pid.err=pid.setnum-pid.actualnum;pid.sumerr+=pid.err;floatincrementnum=pid.kp*(pid.err-pid.nexterr)+pid.ki*pid.err+pid.kd*(pid.err-2*pid.nexterr+pid.lasterr);pid.actualnum+=incrementnum;pid.lasterr=pid.nexte

6、rr;pid.nexterr=pid.err;returnpid.actualnum;}intmain(){PID();intcount=0;while(count<1000){floatnum;num=realizepid(200.0);printf("%f",num);count++;}return0;}积分分离：消除静差，减少偏差积累#include#include#include#includeusingnamespacestd;struct{floatsetnum;float

7、actualnum;floaterr;floatnexterr;floatlasterr;floatkp,ki,kd;floatcontrolmachine;floatsumerr;}pid;voidPID(){pid.setnum=0.0;pid.actualnum=0.0;pid.err=0.0;pid.nexterr=0.0;pid.lasterr=0.0;pid.controlmachine=0.0;pid.sumerr=0.0;pid.kp=0.2;pid.ki=0.04;pid.kd=0.2;}floatrealizepid(floatnum){in

8、tindex;pid.s