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	 > 嵌入式系統(tǒng) > 設(shè)計(jì)應(yīng)用 > 單片機(jī)PID算法實(shí)現(xiàn)
          
    
          

          

          


	
	
	

          
	
          
		
          
			
          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 
          #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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          關(guān)鍵詞：
            			            單片機(jī)PID算
                        
            
          
            
			
          
		
          	
		

	

          
	
	
          
		
          
			
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