求解释PID程序

只看该作者 · 2018-2-28 15:21

#include "pid.h"

float PP=0.5,II=0.5,DD=0;

double SumError=0,PrevError=0,LastError=0;
int dError=0,Error=0;

void PID_init(void)
{
      Error=0;SumError=0;LastError=0;
}

void PIDcompute(unsigned int Target,unsigned int Real)
{
  /*--------------------------------------------------------------------
根据设定及采集值进行计算PID调节，计算pwm输出值
--------------------------------------------------------------------*/
float j=0.0,i;

            Error =(Target-Real);
            SumError +=Error;
dError=Error-LastError;
LastError=Error;

            i=PP;
            j=Error*i;
            i=II;
            j=j+SumError*i;
            i=DD;
            j=j+dError*i;

            j=j/100;

      if(j>=hArrPwmVal)OutPwmValue=hArrPwmVal;
      else if(j<1)OutPwmValue=1;
      else OutPwmValue=j;
}