分析教案算法

struct{intpvintegerthatcontainstheprocessvalueintsp;//＊integerthatcontainsthesetpoint floatintegralfloatpgain;floatigain;floatintdeadband; intlast_error;struct_pidintprocess_point,floatp_gain,i_gain,d_gain,pid_initDESCRIPTIONThisfunctioninitializesthepointersinthe_pidstructuretotheprocessvariableandthesetpoint.*pvand*spareintegerpointers.voidpid_init(struct_pid*warm,intprocess_point,intset_point){struct_pid*pid;pid=warm;pid->pv=process_point;pid->sp=set_point;}pid_tuneDESCRIPTIONSetstheproportionalgain(p_gain),integralgain(i_gain),ofapidcontrolstructure_pid.voidpid_tune(struct_pid*pid,floatp_gain,floati_gain,floatd_gain,intdead_band){===pid->deadband=dead_band;}pid_setintegDESCRIPTIONSetanewvaluefortheintegraltermofthepidequation.Thisisusefulforsettingtheinitialoutputofthepidcontrolleratstartup.voidpid_setinteg(struct_pid*pid,float{pid->integral=new_integ;pid->last_error=0;}pid_bumplessDESCRIPTIONBumplesstransferWhensuddenlychangingsetpoints,orwhenrestartingthePIDequationafteranextendedpause,controlleroutput.Thisfunctionwillhelpsmoothoutthatbump.Theprocessvaluein*pvshouldbetheupdatedjustbeforethisfunctionisused.voidpid_bumpless(struct_pid{pid->last_errorpid->sp)-(pid->pv);//設(shè)定值與反}_pidstructureThisfunctionusesthepositionalformofthepidequation,andincorporatesanintegralwinduppreventionalgorithim.Rectangularintegrationisused,sothisfunctionmustberepeatedonaconsistenttimebasisforaccurateRETURNVALUEThenewoutputvalueforthepidloop.USAGE#include"control.h"floatpid_calc(struct_pidintfloatpterm,dterm,result,err=(pid->sp)-(pid-if(abs(err)>pid-{ferror=(float)err; //dointegertofloatconversiononlyonce數(shù)據(jù)類(lèi)型轉(zhuǎn)換pterm=pid->pgain*if(pterm>100||pterm<-{pid->integral=}{pid->integral+=pid->igain*if(pid->integral>100.0){pid->integral=}elseif(pid->integral<0.0)pid->integral=0.0;}result=pterm+pid->integral+}resultpid->integralpid->last_error=return(result);}void{floatdisy_value;intcount=0;pid=//printf("EnterthevaluesofProcesspoint,Setpoint,Pgain,Igain,Dgain\n");//scanf("%d%d%f%f%f",&process_point,&set_point,&p_gain,&i_gain,&d_gain);process_point=set_point=p_gain=(float)(5.2);i_gain=(float)(0.77);d_gain=(float)(0.18);dead_band=2;integral_valIgain,Dgain\n");printf("%6d%6d%4f%4f%4f\n",process_point,set_point,p_gain,i_gain,d_gain);printf("Enterthevalu