数字PID基础控制算法
/* Layer specfication ------------------------------------------------------------------------------------- ----------------------------------------------------------------------------------------------------------- -- -- Proportional u(t) = Kp * e(t) -- Integral u(t) = Ki * ∫[e(t)*dT] -- Derivative u(t) = Kd * de(t)/dt -- 位置式PID输出量 Uk = Kp * e(t) + Ki * Integral{e(t)*dt} + Kd * de(t)/dt 增量式PID输出量 Uk = Kp * [e(t)-e(t0)] + Ki * e(t) + Kd * [e(t)-2*e(t0)+e(t1)] -- -- [ Jei_robot@yeah.net / ls_jie@126.com ] \ [ PID Algorithm ] \ \ ==>P =====> \ | | \ Ui ===> SIGMA ======>I =====> SIGMA ===> Process ===> Uk \ + | - | | | \ | ==>D =====> | \ | | \ <===========================================< \ ----------------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------------*/
/* Layer specfication ------------------------------------------------------------------------------------- ----------------------------------------------------------------------------------------------------------- -- -- xymotion@126.com -- 328535231 ----------------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------------*/ #include "..\TKIT_Header\TKIT_common.h" #if TKIT_PID_CNT //PID 示意说明 extern char PID_SpecString[]; //PID控制对象 typedef struct __PID__ { //经典PID 输入 float kp,ki,kd; float Ui_Set; float ek0,ek1,ek_sum; float UkMin,UkMax; BOOLEAN KiSumSuspend; float Uk,Uk_delta; float Uk_Kp,Uk_Ki,Uk_Kd; //自适应参数///////////////////// float PredFactor; float PredOut; float PredOutEk; ///////////////////////////////// }PIDCtrl; #endif //TKIT_PID_CNT
温度控制精度±0.1
