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標題: PID算法演示 [打印本頁]

作者: Marauder 時間: 2018-9-9 23:02
標題: PID算法演示
** ===================================================================
** SpeedPID
輸入：speedCount采集車速，AmSpeed 目標車速  ；
輸出：SpeedPWMOUT  計算車速；
** ===================================================================
*/
int16 SpeedControl(int16 speedCount,int16 AmSpeed,uint8 speedKP,uint8 speedKI,uint8 speedKD)
{



  *******************************************************************************************
//speedCount    檢測值
//AmSpeed       目標值
//speedKP       P
//speedKI       I
//speedKD          D

static float Speed1_Err,SumErrSpeed;  //靜態變量存儲中間變量
float Speed2_Err,Speed_EC;
float Speed_P_Value,Speed_D_Value ;

static int16  SpeedPWMOUT;

Speed2_Err = Speed1_Err ;             //將上一次的偏差保存(上一次的偏差值為0)

Speed1_Err = AmSpeed - speedCount  ;    //  計算新的偏差值（目標值-傳感器檢測值）



Speed_EC = Speed1_Err - Speed2_Err;    //  計算新的偏差變化值（上次的偏差值-上上次的偏差值）


Speed_P_Value =  Speed1_Err * speedKP/10.0 ; //  增量式PID控制計算P調節量

SumErrSpeed  +=  Speed1_Err * speedKI ; //增量式PID控制計算I調節量
Speed_D_Value =  Speed_EC *  speedKD/100.0 ;    //  增量式PID控制計算D調節量


SpeedPWMOUT += (int16)(Speed_P_Value + SumErrSpeed + Speed_D_Value);





//88888888888888888888888888888888 限幅       7777777777777777777777777777777
if(SpeedPWMOUT < SPEED_PWM_MIN )
{
   SpeedPWMOUT = SPEED_PWM_MIN ;
}
else if(SpeedPWMOUT > SPEED_PWM_MAX)
{
   SpeedPWMOUT = SPEED_PWM_MAX ;

}
if(SpeedPWMOUT<=0)SpeedPWMOUT=0;

//888888888888888888888888888888888    限幅    77777777777777676666777777777

return  SpeedPWMOUT ;
}

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