單片機(jī)PID算法實(shí)現(xiàn)

作者：時(shí)間：2016-12-01 來源：網(wǎng)絡(luò)

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在avr單片機(jī)上實(shí)現(xiàn)的100%通過測試，用單片機(jī)調(diào)的倒立擺非常穩(wěn)定.

#include

struct _pid

{

int pv; //integer that contains the process value 過程量

int sp; //＊integer that contains the set point 設(shè)定值

float integral; // 積分值

float pgain;

float igain;

float dgain;

int deadband; //死區(qū)

int last_error;

};

struct _pid warm,*pid;

int process_point, set_point,dead_band;

float p_gain, i_gain, d_gain, integral_val,new_integ;;

void pid_init(struct _pid *warm, int process_point, int set_point)

{

struct _pid *pid;

pid = warm;

pid->pv = process_point;

pid->sp = set_point;

}

void pid_tune(struct _pid *pid, float p_gain, float i_gain, float d_gain, int dead_band)

{

pid->pgain = p_gain;

pid->igain = i_gain;

pid->dgain = d_gain;

pid->deadband = dead_band;

pid->integral= integral_val;

pid->last_error=0;

}

void pid_setinteg(struct _pid *pid,float new_integ)

{

pid->integral = new_integ;

pid->last_error = 0;

}

void pid_bumpless(struct _pid *pid)

{

pid->last_error = (pid->sp)-(pid->pv); //設(shè)定值與反饋值偏差

}

float pid_calc(struct _pid *pid)

{·

int err;

float pterm, dterm, result, ferror;

// 計(jì)算偏差

err = (pid->sp) - (pid->pv);

// 判斷是否大于死區(qū)

if (abs(err) > pid->deadband)

{

ferror = (float) err; //do integer to float conversion only once 數(shù)據(jù)類型轉(zhuǎn)換

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