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___position___p_i_d" xml:lang="zh">
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<title>bsp_Position_PID类 参考</title>
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<indexterm><primary>bsp_Position_PID</primary></indexterm>
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<para>
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<para>位置法为基础的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___position___p_i_d_1ac50b1ff29153eed1fcb252a3eee2aa69">bsp_Position_PID</link> (void)</para>
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</listitem>
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<listitem><para><link linkend="_classbsp___position___p_i_d_1aa16c488294e5bfba71c8ef83ee76a250">bsp_Position_PID</link> (float <link linkend="_classbsp___position___p_i_d_1aa2ea863045a5bc0785693013154b6a52">Kp</link>, float <link linkend="_classbsp___position___p_i_d_1a58c60be7603ec356bbe428fb989d4e68">Ki</link>, float <link linkend="_classbsp___position___p_i_d_1a1678e1ea6b9e6ea56fde93df5aad4f75">Kd</link>, float <link linkend="_classbsp___position___p_i_d_1a04921569cfe25681f8763beaae01c1bc">target</link>, float <link linkend="_classbsp___position___p_i_d_1a08bba095208d3dcdb8c07e741dc3a77a">result_H</link>, float <link linkend="_classbsp___position___p_i_d_1a42a8eb4e1c96871e1b4eacb0cf46e196">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___position___p_i_d_1a9cd33ec75d5ca15939d132644d4ceea8">~bsp_Position_PID</link> (void)</para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___position___p_i_d_1ac658466d8bc1d12fcd403c4b6f9ca9f7">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___position___p_i_d_1a7b60d7f8a80c632c501561e7e0765f14">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___position___p_i_d_1add37a6f47b3f9b6dd0d945def8ed2ef1">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___position___p_i_d_1a04921569cfe25681f8763beaae01c1bc">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___position___p_i_d_1aa2ea863045a5bc0785693013154b6a52">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___position___p_i_d_1a1678e1ea6b9e6ea56fde93df5aad4f75">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___position___p_i_d_1a58c60be7603ec356bbe428fb989d4e68">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___position___p_i_d_1a77ecc1d6378fb03cc63c9a3a263c90b2">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___position___p_i_d_1a9e7c0b93c1936f3aca77800997f99c05">integral</link></para>
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<para>积分值 </para>
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</listitem>
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<listitem><para>float <link linkend="_classbsp___position___p_i_d_1a04a54e038d2229f330e1913ce8b8aada">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___position___p_i_d_1a08bba095208d3dcdb8c07e741dc3a77a">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___position___p_i_d_1a42a8eb4e1c96871e1b4eacb0cf46e196">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>位置法为基础的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_1l00043">43</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___position___p_i_d_1ac50b1ff29153eed1fcb252a3eee2aa69"/><section>
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<title>bsp_Position_PID()<computeroutput>[1/2]</computeroutput></title>
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<indexterm><primary>bsp_Position_PID</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<para><computeroutput>bsp_Position_PID::bsp_Position_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_1l00134">134</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___position___p_i_d_1aa16c488294e5bfba71c8ef83ee76a250"/><section>
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<title>bsp_Position_PID()<computeroutput>[2/2]</computeroutput></title>
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<indexterm><primary>bsp_Position_PID</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<para><computeroutput>bsp_Position_PID::bsp_Position_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_1l00155">155</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___position___p_i_d_1a9cd33ec75d5ca15939d132644d4ceea8"/><section>
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<title>~bsp_Position_PID()</title>
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<indexterm><primary>~bsp_Position_PID</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>~bsp_Position_PID</secondary></indexterm>
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<para><computeroutput>bsp_Position_PID::~bsp_Position_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_1l00169">169</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___position___p_i_d_1a7b60d7f8a80c632c501561e7e0765f14"/><section>
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<title>clean()</title>
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<indexterm><primary>clean</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>clean</secondary></indexterm>
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<para><computeroutput>void bsp_Position_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_1l00096">96</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___position___p_i_d_1ac658466d8bc1d12fcd403c4b6f9ca9f7"/><section>
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<title>PID()</title>
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<indexterm><primary>PID</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>PID</secondary></indexterm>
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<para><computeroutput>float bsp_Position_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_1l00048">48</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___position___p_i_d_1add37a6f47b3f9b6dd0d945def8ed2ef1"/><section>
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<title>set()</title>
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<indexterm><primary>set</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>set</secondary></indexterm>
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<para><computeroutput>void bsp_Position_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_1l00119">119</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___position___p_i_d_1a9e7c0b93c1936f3aca77800997f99c05"/><section>
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<title>integral</title>
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<indexterm><primary>integral</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>integral</secondary></indexterm>
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<para><computeroutput>float bsp_Position_PID::integral<computeroutput>[private]</computeroutput></computeroutput></para><para>
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<para>积分值 </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_1l00061">61</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___position___p_i_d_1a1678e1ea6b9e6ea56fde93df5aad4f75"/><section>
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<title>Kd</title>
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<indexterm><primary>Kd</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>Kd</secondary></indexterm>
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<para><computeroutput>float bsp_Position_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_1l00057">57</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___position___p_i_d_1a58c60be7603ec356bbe428fb989d4e68"/><section>
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<title>Ki</title>
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<indexterm><primary>Ki</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>Ki</secondary></indexterm>
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<para><computeroutput>float bsp_Position_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_1l00058">58</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___position___p_i_d_1aa2ea863045a5bc0785693013154b6a52"/><section>
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<title>Kp</title>
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<indexterm><primary>Kp</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>Kp</secondary></indexterm>
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<para><computeroutput>float bsp_Position_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_1l00056">56</link> 行定义.</para>
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</section>
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<anchor xml:id="_classbsp___position___p_i_d_1a04a54e038d2229f330e1913ce8b8aada"/><section>
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<title>lasterror</title>
|
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<indexterm><primary>lasterror</primary><secondary>bsp_Position_PID</secondary></indexterm>
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<indexterm><primary>bsp_Position_PID</primary><secondary>lasterror</secondary></indexterm>
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<para><computeroutput>float bsp_Position_PID::lasterror<computeroutput>[private]</computeroutput></computeroutput></para><para>
|
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|
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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_1l00062">62</link> 行定义.</para>
|
||
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</section>
|
||
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<anchor xml:id="_classbsp___position___p_i_d_1a77ecc1d6378fb03cc63c9a3a263c90b2"/><section>
|
||
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<title>result</title>
|
||
|
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<indexterm><primary>result</primary><secondary>bsp_Position_PID</secondary></indexterm>
|
||
|
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<indexterm><primary>bsp_Position_PID</primary><secondary>result</secondary></indexterm>
|
||
|
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<para><computeroutput>float bsp_Position_PID::result</computeroutput></para><para>
|
||
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|
||
|
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<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_1l00059">59</link> 行定义.</para>
|
||
|
|
</section>
|
||
|
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<anchor xml:id="_classbsp___position___p_i_d_1a08bba095208d3dcdb8c07e741dc3a77a"/><section>
|
||
|
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<title>result_H</title>
|
||
|
|
<indexterm><primary>result_H</primary><secondary>bsp_Position_PID</secondary></indexterm>
|
||
|
|
<indexterm><primary>bsp_Position_PID</primary><secondary>result_H</secondary></indexterm>
|
||
|
|
<para><computeroutput>float bsp_Position_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_1l00064">64</link> 行定义.</para>
|
||
|
|
</section>
|
||
|
|
<anchor xml:id="_classbsp___position___p_i_d_1a42a8eb4e1c96871e1b4eacb0cf46e196"/><section>
|
||
|
|
<title>result_L</title>
|
||
|
|
<indexterm><primary>result_L</primary><secondary>bsp_Position_PID</secondary></indexterm>
|
||
|
|
<indexterm><primary>bsp_Position_PID</primary><secondary>result_L</secondary></indexterm>
|
||
|
|
<para><computeroutput>float bsp_Position_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_1l00065">65</link> 行定义.</para>
|
||
|
|
</section>
|
||
|
|
<anchor xml:id="_classbsp___position___p_i_d_1a04921569cfe25681f8763beaae01c1bc"/><section>
|
||
|
|
<title>target</title>
|
||
|
|
<indexterm><primary>target</primary><secondary>bsp_Position_PID</secondary></indexterm>
|
||
|
|
<indexterm><primary>bsp_Position_PID</primary><secondary>target</secondary></indexterm>
|
||
|
|
<para><computeroutput>float bsp_Position_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_1l00055">55</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>
|