- C语言理解代码:
- //创建变量结构体
- struct pid_type {
- float Kp; //PI调节的比例常数
- float Ti; //PI调节的积分常数
- float T; //采样周期
- float Ki;
- float ek; //偏差e[k]
- float ek1; //偏差e[k-1]
- float ek2; //偏差e[k-2]
- float uk; //u[k]
- signed int uk1; //对u[k]四舍五入取整
- signed int adjust; //调节器输出调整量
- } pid;
- //变量初始
- void Pid_Init(void)
- {
- pid.Kp=4;
- pid.Ti=0.005;
- pid.T=0.001;
- pid.Ki=0.6; //微分系数Kd=KpTd/T。根据实际调节
- pid.ek=0;
- pid.ek1=0;
- pid.ek2=0;
- pid.uk=0;
- pid.uk1=0;
- pid.adjust=0;
- }
- int PIDadjust(float ek) //PI调节算法
- {
- if( gabs(ek)<0.1 )
- {
- pid.adjust=0;
- }
- else
- {
- pid.uk=pid.Kp*(pid.ek-pid.ek1)+pid.Ki*pid.ek; //计算控制增量
- pid.ek1=pid.ek;
- pid.uk1=(signed int)pid.uk;
- if(http://pid.uk>0)
- {
- if(piduk-piduk1>=0.5)
- {
- pi.uk1=pid.uk1+1;
- }
- }
- if(piduk<0)
- {
- if(http://pid.uk1-pid.uk>=0.5)
- {
- pid.uk1=pid.uk1-1;
- }
- }
- adjust=pid.uk1;
- }
- return adjust;
- }
| 
楼主
