371 lines
16 KiB
XML
371 lines
16 KiB
XML
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<?xml version='1.0' encoding='UTF-8' standalone='no'?>
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<section xmlns="http://docbook.org/ns/docbook" version="5.0" xmlns:xlink="http://www.w3.org/1999/xlink" xml:id="_classbsp___increment___p_i_d" xml:lang="zh">
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<title>bsp_Increment_PID类 参考</title>
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<indexterm><primary>bsp_Increment_PID</primary></indexterm>
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<para>
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<para>增量法为基础的PID算法 </para>
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</para>
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<para>
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<computeroutput>#include <bsp_PID.h></computeroutput>
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</para>
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<simplesect>
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<title>Public 成员函数 </title>
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<itemizedlist>
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<listitem><para><link linkend="_classbsp___increment___p_i_d_1a1dec336ee026d7e1148dfb68052055d2">bsp_Increment_PID</link> (void)</para>
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</listitem>
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<listitem><para><link linkend="_classbsp___increment___p_i_d_1a33b07a33c9ba2accc10a4bcf5a8b7be9">bsp_Increment_PID</link> (float <link linkend="_classbsp___increment___p_i_d_1a4bd6b08091f76f357da2dab404a3a97b">Kp</link>, float <link linkend="_classbsp___increment___p_i_d_1a368b2b2bd531ef46a9518889f9f07eec">Ki</link>, float <link linkend="_classbsp___increment___p_i_d_1acbe47a0c902698a6e11db1d0651a2627">Kd</link>, float <link linkend="_classbsp___increment___p_i_d_1a6f2142a4e99c8a6bd5b604fe53c8e6b1">target</link>, float <link linkend="_classbsp___increment___p_i_d_1a90bb2ca2ebe196b8063183336c63186a">result_H</link>, float <link linkend="_classbsp___increment___p_i_d_1a17d1546dc185ae482d4d7b72af1ac5cd">result_L</link>)</para>
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<para>PID算法 </para>
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</listitem>
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<listitem><para><link linkend="_classbsp___increment___p_i_d_1a3eb46ef6d491464f9cc8bfdc0ded1155">~bsp_Increment_PID</link> (void)</para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1a7f39310ecc4cd1f8029a6545bd37e0a9">PID</link> (float temp)</para>
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<para>PID算法 </para>
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</listitem>
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<listitem><para>void <link linkend="_classbsp___increment___p_i_d_1aa1cab8492ec6a289debfc215689d9b38">clean</link> (void)</para>
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<para>清理历史数据 </para>
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</listitem>
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<listitem><para>void <link linkend="_classbsp___increment___p_i_d_1aeddd6d60b615571d390653e9a958b2b4">set</link> (float P, float I, float D)</para>
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<para>PID参数设置 </para>
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</listitem>
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</itemizedlist>
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</simplesect>
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<simplesect>
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<title>Public 属性 </title>
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<itemizedlist>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1a6f2142a4e99c8a6bd5b604fe53c8e6b1">target</link></para>
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<para>设定值 </para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1a4bd6b08091f76f357da2dab404a3a97b">Kp</link></para>
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<para>比例系数 </para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1acbe47a0c902698a6e11db1d0651a2627">Kd</link></para>
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<para>积分系数 </para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1a368b2b2bd531ef46a9518889f9f07eec">Ki</link></para>
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<para>微分系数 </para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1a7e567c42a56682a0f24e39a92a562e40">result</link></para>
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<para>输出值 </para>
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</listitem>
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</itemizedlist>
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</simplesect>
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<simplesect>
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<title>Private 属性 </title>
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<itemizedlist>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1aaf7c047c9aa963bb6b7524fd8fc6242b">lasterror</link></para>
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<para>前一拍偏差 </para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1a8df6076b4bb4d4d1e4c7ee2777defb82">preerror</link></para>
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<para>前两拍偏差 </para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1a90bb2ca2ebe196b8063183336c63186a">result_H</link></para>
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<para>输出最高值 </para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___increment___p_i_d_1a17d1546dc185ae482d4d7b72af1ac5cd">result_L</link></para>
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<para>输出最低值 </para>
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</listitem>
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</itemizedlist>
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</simplesect>
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<section>
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<title>详细描述</title>
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<para>增量法为基础的PID算法 </para>
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<para>
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在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00073">73</link> 行定义.</para>
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</section>
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<section>
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<title>构造及析构函数说明</title>
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<anchor xml:id="_classbsp___increment___p_i_d_1a1dec336ee026d7e1148dfb68052055d2"/><section>
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<title>bsp_Increment_PID()<computeroutput>[1/2]</computeroutput></title>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<para><computeroutput>bsp_Increment_PID::bsp_Increment_PID (void )</computeroutput></para><para>
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在文件 <link linkend="_bsp___p_i_d_8cpp_source">bsp_PID.cpp</link> 第 <link linkend="_bsp___p_i_d_8cpp_source_1l00171">171</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___increment___p_i_d_1a33b07a33c9ba2accc10a4bcf5a8b7be9"/><section>
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<title>bsp_Increment_PID()<computeroutput>[2/2]</computeroutput></title>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<para><computeroutput>bsp_Increment_PID::bsp_Increment_PID (float Kp, float Ki, float Kd, float target, float result_H, float result_L)</computeroutput></para><para>
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<para>PID算法 </para>
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</para>
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<para>
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<formalpara>
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<title>
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参数</title>
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<para>
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<table frame="all">
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<tgroup cols="2" align="left" colsep="1" rowsep="1">
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<colspec colwidth="1*"/>
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<colspec colwidth="4*"/>
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<tbody>
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<row>
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<entry>Kp</entry><entry>
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<para>P参数 </para>
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</entry>
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</row>
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<row>
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<entry>Ki</entry><entry>
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<para>I参数 </para>
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</entry>
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</row>
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<row>
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<entry>Kd</entry><entry>
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<para>D参数 </para>
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</entry>
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</row>
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<row>
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<entry>target</entry><entry>
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<para>目标值 </para>
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</entry>
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</row>
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<row>
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<entry>result_H</entry><entry>
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<para>输出最大值 </para>
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</entry>
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</row>
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<row>
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<entry>result_L</entry><entry>
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<para>输出最小值 </para>
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</entry>
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</row>
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</tbody>
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</tgroup>
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</table>
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</para>
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</formalpara>
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</para>
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<para>
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在文件 <link linkend="_bsp___p_i_d_8cpp_source">bsp_PID.cpp</link> 第 <link linkend="_bsp___p_i_d_8cpp_source_1l00192">192</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___increment___p_i_d_1a3eb46ef6d491464f9cc8bfdc0ded1155"/><section>
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<title>~bsp_Increment_PID()</title>
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<indexterm><primary>~bsp_Increment_PID</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>~bsp_Increment_PID</secondary></indexterm>
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<para><computeroutput>bsp_Increment_PID::~bsp_Increment_PID (void )</computeroutput></para><para>
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在文件 <link linkend="_bsp___p_i_d_8cpp_source">bsp_PID.cpp</link> 第 <link linkend="_bsp___p_i_d_8cpp_source_1l00206">206</link> 行定义.</para>
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</section>
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</section>
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<section>
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<title>成员函数说明</title>
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<anchor xml:id="_classbsp___increment___p_i_d_1aa1cab8492ec6a289debfc215689d9b38"/><section>
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<title>clean()</title>
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<indexterm><primary>clean</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>clean</secondary></indexterm>
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<para><computeroutput>void bsp_Increment_PID::clean (void )</computeroutput></para><para>
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<para>清理历史数据 </para>
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</para>
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<para><formalpara><title>返回</title>
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<para>清除PID运算数据 </para>
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</formalpara>
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</para>
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<para>
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在文件 <link linkend="_bsp___p_i_d_8cpp_source">bsp_PID.cpp</link> 第 <link linkend="_bsp___p_i_d_8cpp_source_1l00106">106</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___increment___p_i_d_1a7f39310ecc4cd1f8029a6545bd37e0a9"/><section>
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<title>PID()</title>
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<indexterm><primary>PID</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>PID</secondary></indexterm>
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<para><computeroutput>float bsp_Increment_PID::PID (float temp)</computeroutput></para><para>
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<para>PID算法 </para>
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</para>
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<para>
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<formalpara>
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<title>
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参数</title>
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<para>
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<table frame="all">
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<tgroup cols="2" align="left" colsep="1" rowsep="1">
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<colspec colwidth="1*"/>
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<colspec colwidth="4*"/>
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<tbody>
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<row>
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<entry>temp</entry><entry>
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<para>目前变量 </para>
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</entry>
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</row>
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</tbody>
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</tgroup>
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</table>
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</para>
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</formalpara>
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<formalpara><title>返回</title>
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<para>返回调整量 </para>
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</formalpara>
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</para>
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<para>
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在文件 <link linkend="_bsp___p_i_d_8cpp_source">bsp_PID.cpp</link> 第 <link linkend="_bsp___p_i_d_8cpp_source_1l00069">69</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___increment___p_i_d_1aeddd6d60b615571d390653e9a958b2b4"/><section>
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<title>set()</title>
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<indexterm><primary>set</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>set</secondary></indexterm>
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<para><computeroutput>void bsp_Increment_PID::set (float P, float I, float D)</computeroutput></para><para>
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<para>PID参数设置 </para>
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</para>
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<para>
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<formalpara>
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<title>
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参数</title>
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<para>
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<table frame="all">
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<tgroup cols="2" align="left" colsep="1" rowsep="1">
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<colspec colwidth="1*"/>
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<colspec colwidth="4*"/>
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<tbody>
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<row>
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<entry>P</entry><entry>
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<para>P参数 </para>
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</entry>
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</row>
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<row>
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<entry>I</entry><entry>
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<para>I参数 </para>
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</entry>
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</row>
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<row>
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<entry>D</entry><entry>
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<para>D参数 </para>
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</entry>
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</row>
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</tbody>
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</tgroup>
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</table>
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</para>
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</formalpara>
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</para>
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<para>
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在文件 <link linkend="_bsp___p_i_d_8cpp_source">bsp_PID.cpp</link> 第 <link linkend="_bsp___p_i_d_8cpp_source_1l00128">128</link> 行定义.</para>
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</section>
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</section>
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<section>
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<title>类成员变量说明</title>
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<anchor xml:id="_classbsp___increment___p_i_d_1acbe47a0c902698a6e11db1d0651a2627"/><section>
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<title>Kd</title>
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<indexterm><primary>Kd</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>Kd</secondary></indexterm>
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<para><computeroutput>float bsp_Increment_PID::Kd</computeroutput></para><para>
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<para>积分系数 </para>
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</para>
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<para>
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在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00087">87</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___increment___p_i_d_1a368b2b2bd531ef46a9518889f9f07eec"/><section>
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<title>Ki</title>
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<indexterm><primary>Ki</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>Ki</secondary></indexterm>
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<para><computeroutput>float bsp_Increment_PID::Ki</computeroutput></para><para>
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<para>微分系数 </para>
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</para>
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<para>
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在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00088">88</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___increment___p_i_d_1a4bd6b08091f76f357da2dab404a3a97b"/><section>
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<title>Kp</title>
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<indexterm><primary>Kp</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>Kp</secondary></indexterm>
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<para><computeroutput>float bsp_Increment_PID::Kp</computeroutput></para><para>
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<para>比例系数 </para>
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</para>
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<para>
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在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00086">86</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___increment___p_i_d_1aaf7c047c9aa963bb6b7524fd8fc6242b"/><section>
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<title>lasterror</title>
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<indexterm><primary>lasterror</primary><secondary>bsp_Increment_PID</secondary></indexterm>
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<indexterm><primary>bsp_Increment_PID</primary><secondary>lasterror</secondary></indexterm>
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<para><computeroutput>float bsp_Increment_PID::lasterror<computeroutput>[private]</computeroutput></computeroutput></para><para>
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<para>前一拍偏差 </para>
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</para>
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<para>
|
||
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在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00091">91</link> 行定义.</para>
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</section>
|
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<anchor xml:id="_classbsp___increment___p_i_d_1a8df6076b4bb4d4d1e4c7ee2777defb82"/><section>
|
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<title>preerror</title>
|
||
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<indexterm><primary>preerror</primary><secondary>bsp_Increment_PID</secondary></indexterm>
|
||
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<indexterm><primary>bsp_Increment_PID</primary><secondary>preerror</secondary></indexterm>
|
||
|
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<para><computeroutput>float bsp_Increment_PID::preerror<computeroutput>[private]</computeroutput></computeroutput></para><para>
|
||
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|
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<para>前两拍偏差 </para>
|
||
|
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</para>
|
||
|
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<para>
|
||
|
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在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00092">92</link> 行定义.</para>
|
||
|
|
</section>
|
||
|
|
<anchor xml:id="_classbsp___increment___p_i_d_1a7e567c42a56682a0f24e39a92a562e40"/><section>
|
||
|
|
<title>result</title>
|
||
|
|
<indexterm><primary>result</primary><secondary>bsp_Increment_PID</secondary></indexterm>
|
||
|
|
<indexterm><primary>bsp_Increment_PID</primary><secondary>result</secondary></indexterm>
|
||
|
|
<para><computeroutput>float bsp_Increment_PID::result</computeroutput></para><para>
|
||
|
|
|
||
|
|
<para>输出值 </para>
|
||
|
|
</para>
|
||
|
|
<para>
|
||
|
|
在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00089">89</link> 行定义.</para>
|
||
|
|
</section>
|
||
|
|
<anchor xml:id="_classbsp___increment___p_i_d_1a90bb2ca2ebe196b8063183336c63186a"/><section>
|
||
|
|
<title>result_H</title>
|
||
|
|
<indexterm><primary>result_H</primary><secondary>bsp_Increment_PID</secondary></indexterm>
|
||
|
|
<indexterm><primary>bsp_Increment_PID</primary><secondary>result_H</secondary></indexterm>
|
||
|
|
<para><computeroutput>float bsp_Increment_PID::result_H<computeroutput>[private]</computeroutput></computeroutput></para><para>
|
||
|
|
|
||
|
|
<para>输出最高值 </para>
|
||
|
|
</para>
|
||
|
|
<para>
|
||
|
|
在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00094">94</link> 行定义.</para>
|
||
|
|
</section>
|
||
|
|
<anchor xml:id="_classbsp___increment___p_i_d_1a17d1546dc185ae482d4d7b72af1ac5cd"/><section>
|
||
|
|
<title>result_L</title>
|
||
|
|
<indexterm><primary>result_L</primary><secondary>bsp_Increment_PID</secondary></indexterm>
|
||
|
|
<indexterm><primary>bsp_Increment_PID</primary><secondary>result_L</secondary></indexterm>
|
||
|
|
<para><computeroutput>float bsp_Increment_PID::result_L<computeroutput>[private]</computeroutput></computeroutput></para><para>
|
||
|
|
|
||
|
|
<para>输出最低值 </para>
|
||
|
|
</para>
|
||
|
|
<para>
|
||
|
|
在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00095">95</link> 行定义.</para>
|
||
|
|
</section>
|
||
|
|
<anchor xml:id="_classbsp___increment___p_i_d_1a6f2142a4e99c8a6bd5b604fe53c8e6b1"/><section>
|
||
|
|
<title>target</title>
|
||
|
|
<indexterm><primary>target</primary><secondary>bsp_Increment_PID</secondary></indexterm>
|
||
|
|
<indexterm><primary>bsp_Increment_PID</primary><secondary>target</secondary></indexterm>
|
||
|
|
<para><computeroutput>float bsp_Increment_PID::target</computeroutput></para><para>
|
||
|
|
|
||
|
|
<para>设定值 </para>
|
||
|
|
</para>
|
||
|
|
<para>
|
||
|
|
在文件 <link linkend="_bsp___p_i_d_8h_source">bsp_PID.h</link> 第 <link linkend="_bsp___p_i_d_8h_source_1l00085">85</link> 行定义.</para>
|
||
|
|
</section>
|
||
|
|
<para>
|
||
|
|
该类的文档由以下文件生成:</para>
|
||
|
|
D:/gitt/MicrochipFor32/bsp_Device/<link linkend="_bsp___p_i_d_8h">bsp_PID.h</link>D:/gitt/MicrochipFor32/bsp_Device/<link linkend="_bsp___p_i_d_8cpp">bsp_PID.cpp</link></section>
|
||
|
|
</section>
|