PID的算法实现其他 挺简单的
/** PID Controller Implementation in C
*
* Created by Joshua Saxby (aka @saxbophone) on 1 Jan, 2016
*
* My own attempt at implementing the PID algorithm in some (hopefully) clean, understandable C.
*
* See LICENSE for licensing details.
*/
// protection against multiple includes
#ifndef SAXBOPHONE_PID_H
#define SAXBOPHONE_PID_H
#ifdef __cplusplus
extern "C"{
#endif
typedef struct pid_calibration {
/*
* struct PID_Calibration
*
* Struct storing calibrated PID constants for a PID Controller
* These are used for tuning the algorithm and the values they take are
* dependent upon the application - (in other words, YMMV...)
*/
double kp; // Proportional gain
double ki; // Integral gain
double kd; // Derivative gain
} PID_Calibration;
typedef struct pid_state {
/*
* struct PID_State
*
* Struct storing the current state of a PID Controller.
* This is used as the input value to the PID algorithm function, which also
* returns a PID_State struct reflecting the adjustments suggested by the algorithm.
*
* NOTE: The output field in this struct is set by the PID algorithm function, and
* is ignored in the actual calculations.
*/
double actual; // The actual reading as measured
double target; // The desired reading
double time_delta; // Time since last sample/calculation - should be set when updating state
// The previously calculated error between actual and target (zero initially)
double previous_error;
double integral; // Sum of integral error over time
double output; // the modified output value calculated by the algorithm, to compensate for error
} PID_State;
/*
* PID Controller Algorithm implementation
*
* Given a PID calibration for the P, I and D values and a PID_State for the current
* state of the PID controller, calculate the new state for the PID Controller and set
* the output state to compensate for any error as defined by the algorithm
*/
PID_State pid_iterate(PID_Calibration calibration, PID_State state);
#ifdef __cplusplus
} // extern "C"
#endif
// end of header
#endif
/*
* PID Controller Implementation in C
*
* Created by Joshua Saxby (aka @saxbophone) on 1 Jan, 2016
*
* My own attempt at implementing the PID algorithm in some (hopefully) clean, understandable C.
*
* See LICENSE for licensing details.
*/
#include "pid.h"
PID_State pid_iterate(PID_Calibration calibration, PID_State state) {
// calculate difference between desired and actual values (the error)
double error = state.target - state.actual;
// calculate and update integral
state.integral += (error * state.time_delta);
// calculate derivative
double derivative = (error - state.previous_error) / state.time_delta;
// calculate output value according to algorithm
state.output = (
(calibration.kp * error) + (calibration.ki * state.integral) + (calibration.kd * derivative)
);
// update state.previous_error to the error value calculated on this iteration
state.previous_error = error;
// return the state struct reflecting the calculations
return state;
}
所以，您实现了什么 PID确实不复杂，就是调参的时候要费劲儿点 一般有点经验的话，PID其实还可以的，不是很麻烦 当然了，PID是比较简单的算法之一了 一般调试电机控制的时候，用PID确实方便 话说，这PID的应用起来，占用多少flash，是不是不多 一般的话是不是M0也可以用PID操作啊 看代码PID好简单啊，是不是调参也很简单呢？ 楼主PID能以工程打包上来吗，我也想学习学习 PID还是不错的存在，比较常用而且方便 每次PID更新之间的时间差必须准确计算，尤其是当控制循环的时间间隔不固定时。 学习一下啊！感觉有点知识慌了
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