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