网站建设教程这篇苏州久远网络,如何给自己网站做外链,乐陵seo优化,怎么投放广告STM32_PID通用算法增量式和位置式 前言#xff1a; 此算法为入门级PID算法#xff0c;调试好参数后可应用于温度控制、舵机控制、直流电机的转速控制和直流电机的角度控制等等#xff0c;下面就以温度控制举例 pid.c
#include pid.h
#include sensor.h 此算法为入门级PID算法调试好参数后可应用于温度控制、舵机控制、直流电机的转速控制和直流电机的角度控制等等下面就以温度控制举例 pid.c
#include pid.h
#include sensor.h
#include dev_control.h
#include usbd_cdc_if.hpidTypeDef_t heatTemp_pid {0};
pidPID_t tempPID {0};void pidInit(void)
{tempPID.KP 15; //比例常数tempPID.KI 0; //积分常数tempPID.KD 0.1; //微分常数heatTemp_pid.PidMode 0; //使用增量式PIDheatTemp_pid.SetPoint 0; //设定目标值heatTemp_pid.ActualValue 0.0; //期望值输出heatTemp_pid.SumError 0.0; //积分值heatTemp_pid.Error 0.0; //当前偏差值heatTemp_pid.LastError 0.0; //上次偏差值heatTemp_pid.PrevError 0.0; //上上次偏差值heatTemp_pid.Proportion tempPID.KP; //比例常数heatTemp_pid.Integral tempPID.KI; //积分常数heatTemp_pid.Derivative tempPID.KD; //微分常数
}void pidTask(void)//根据系统来计算调用该函数的周期
{if(devTypedef.devHeatAir.devHeatAirEnable STATE_ENABLE){heatTemp_pid.SetPoint (float)sensorData.ptcSensorData.ptcSensorData_target;heatTemp_pid.ActualValue pidComputeCtrl(heatTemp_pid, (float)sensorData.ptcSensorData.ptcSensorData_float);//¼ÆËã³öPIDÊä³öÖµif(heatTemp_pid.ActualValue 0) heatTemp_pid.ActualValue 0;if(heatTemp_pid.ActualValue 100) heatTemp_pid.ActualValue 100;devTypedef.devHeatAir.devHeatAirDuty heatTemp_pid.ActualValue;//作用到控制设备上//调试信息usb_printf(%0.2f,%0.2f,%0.2f\r\n,heatTemp_pid.SetPoint,(float)sensorData.ptcSensorData.ptcSensorData_float,heatTemp_pid.ActualValue);}
}float pidComputeCtrl(pidTypeDef_t *PID, float feedbackValue)
{PID-Error (float)(PID-SetPoint - feedbackValue); //计算偏差if(PID-PidMode 1) //增量式PID{PID-ActualValue (PID-Proportion * (PID-Error - PID-LastError)) //比例环节 (PID-Integral * PID-Error) //积分环节 (PID-Derivative * (PID-Error - 2 * PID-LastError PID-PrevError)); //微分环节PID-PrevError PID-LastError; //更新历史偏差PID-LastError PID-Error;}else //位置式PID{PID-SumError PID-Error;float pid_integral 0;pid_integral PID-Integral * PID-SumError; //限积分算法if(pid_integral 5) pid_integral 5;PID-ActualValue (PID-Proportion * PID-Error) //比例环节 pid_integral //积分环节 (PID-Derivative * (PID-Error - PID-LastError)); //微分环节PID-LastError PID-Error;}return (PID-ActualValue); //返回计算后的结果
}pid.h
#ifndef __PID_H
#define __PID_H
#include main.h
#include log.h#define PID_TASK_PERIOD 1 //#define PID_LOG_EN 1
#if PID_LOG_EN#define PID_printf(format, ...) printf(RTT_CTRL_TEXT_WHITE format , ##__VA_ARGS__)//\r\n#define PID_info(format, ...) printf(RTT_CTRL_TEXT_GREEN[pid]info: format , ##__VA_ARGS__)#define PID_debug(format, ...) printf(RTT_CTRL_TEXT_WHITE[pid]debug: format , ##__VA_ARGS__)#define PID_warning(format, ...) printf(RTT_CTRL_TEXT_YELLOW[pid]warning: format , ##__VA_ARGS__)#define PID_error(format, ...) printf(RTT_CTRL_TEXT_RED[pid]error: format ,##__VA_ARGS__)
#else#define PID_printf(format, ...)#define PID_info(format, ...)#define PID_debug(format, ...)#define PID_warning(format, ...)#define PID_error(format, ...)
#endiftypedef struct
{float KP;float KI;float KD;
} pidPID_t;extern pidPID_t pressurePID;
extern pidPID_t tempPID;//PID参数结构体
typedef struct
{float SetPoint; //设定目标值float ActualValue; //期望值输出float SumError; //积分值float Proportion; //比例常数float Integral; //积分常数float Derivative; //微分常数float Error; //当前偏差值float LastError; //上次偏差值float PrevError; //上上次偏差值unsigned int PidMode; //使用PID模式
} pidTypeDef_t;extern pidTypeDef_t heatTemp_pid; //加热系统PID参数结构体extern unsigned char pid_flag;void pidInit(void);
void pidTask(void);
float pidComputeCtrl(pidTypeDef_t *PID, float feedbackValue);#endif
