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- #include "System_init.h"
- extern int U_Set;
- extern u16 CCR1_Val;
- /*====================================================================================================
- PID Function
- The PID (比例、積分、微分) function is used in mainly
- control applications. PIDCalc performs one iteration of the PID
- algorithm.
- While the PID function works, main is just a dummy program showing
- a typical usage.
- =====================================================================================================*/
- typedef struct PID {
- float SetPoint; // 設定目標Desired value
- float Proportion; // 比例常數Proportional Const
- float Integral; // 積分常數Integral Const
- float Derivative; // 微分常數Derivative Const
- float LastError; // Error[-1]
- float PrevError; // Error[-2]
- float SumError; // Sums of Errors
- } PID;
- /*====================================================================================================/
- PID計算部分
- =====================================================================================================*/
- PID vPID={0,0.1,0.001,0.001,0,0,0};
- float PIDCalc( PID *pp, float NextPoint )
- {
- float dError,
- Error;
- Error = pp->SetPoint - NextPoint; // 偏差
- pp->SumError += Error; // 積分
- dError = pp->LastError - pp->PrevError; // 當前微分
- pp->PrevError = pp->LastError;
- pp->LastError = Error;
- if(pp->SumError>900) pp->SumError=900;
- else if(pp->SumError<-900) pp->SumError=-900;
- return (pp->Proportion * Error // 比例項
- + pp->Integral * pp->SumError // 積分項
- + pp->Derivative * dError // 微分項
- );
- }
- float Vol(int vSet,int v3){
- float vOut; // PID Response (Output)
- float vIn; // PID Feedback (Input)
- vPID.SetPoint = vSet; // Set PID Setpoint
- vIn = (float)v3; // Read Input
- vOut = PIDCalc ( &vPID,vIn ); // Perform PID Interation
- return vOut;
- }
代碼:
STM32單片機的PID算法實例.zip
(729.66 KB, 下載次數: 12)
2021-6-30 14:50 上傳
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