230 lines
3.9 KiB
Groff
230 lines
3.9 KiB
Groff
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.TH "bsp_Increment_PID" 3 "2022年 十一月 22日 星期二" "Version 2.0.0" "MF32BSP_XerolySkinner" \" -*- nroff -*-
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.ad l
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.nh
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.SH NAME
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bsp_Increment_PID \- 增量法为基础的PID算法
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.SH SYNOPSIS
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.br
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.PP
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.PP
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\fC#include <bsp_PID\&.h>\fP
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.SS "Public 成员函数"
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.in +1c
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.ti -1c
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.RI "\fBbsp_Increment_PID\fP (void)"
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.br
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.ti -1c
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.RI "\fBbsp_Increment_PID\fP (float \fBKp\fP, float \fBKi\fP, float \fBKd\fP, float \fBtarget\fP, float \fBresult_H\fP, float \fBresult_L\fP)"
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.br
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.RI "PID算法 "
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.ti -1c
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.RI "\fB~bsp_Increment_PID\fP (void)"
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.br
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.ti -1c
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.RI "float \fBPID\fP (float temp)"
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.br
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.RI "PID算法 "
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.ti -1c
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.RI "void \fBclean\fP (void)"
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.br
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.RI "清理历史数据 "
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.ti -1c
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.RI "void \fBset\fP (float P, float I, float D)"
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.br
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.RI "PID参数设置 "
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.in -1c
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.SS "Public 属性"
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.in +1c
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.ti -1c
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.RI "float \fBtarget\fP"
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.br
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.RI "设定值 "
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.ti -1c
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.RI "float \fBKp\fP"
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.br
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.RI "比例系数 "
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.ti -1c
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.RI "float \fBKd\fP"
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.br
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.RI "积分系数 "
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.ti -1c
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.RI "float \fBKi\fP"
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.br
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.RI "微分系数 "
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.ti -1c
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.RI "float \fBresult\fP"
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.br
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.RI "输出值 "
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.in -1c
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.SS "Private 属性"
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.in +1c
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.ti -1c
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.RI "float \fBlasterror\fP"
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.br
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.RI "前一拍偏差 "
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.ti -1c
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.RI "float \fBpreerror\fP"
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.br
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.RI "前两拍偏差 "
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.ti -1c
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.RI "float \fBresult_H\fP"
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.br
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.RI "输出最高值 "
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.ti -1c
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.RI "float \fBresult_L\fP"
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.br
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.RI "输出最低值 "
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.in -1c
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.SH "详细描述"
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.PP
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增量法为基础的PID算法
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB73\fP 行定义\&.
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.SH "构造及析构函数说明"
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.PP
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.SS "bsp_Increment_PID::bsp_Increment_PID (void)"
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.PP
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在文件 \fBbsp_PID\&.cpp\fP 第 \fB171\fP 行定义\&.
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.SS "bsp_Increment_PID::bsp_Increment_PID (float Kp, float Ki, float Kd, float target, float result_H, float result_L)"
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.PP
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PID算法
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.PP
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\fB参数\fP
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.RS 4
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\fIKp\fP P参数
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.br
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\fIKi\fP I参数
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.br
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\fIKd\fP D参数
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.br
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\fItarget\fP 目标值
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.br
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\fIresult_H\fP 输出最大值
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.br
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\fIresult_L\fP 输出最小值
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.RE
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.PP
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.PP
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在文件 \fBbsp_PID\&.cpp\fP 第 \fB192\fP 行定义\&.
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.SS "bsp_Increment_PID::~bsp_Increment_PID (void)"
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.PP
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在文件 \fBbsp_PID\&.cpp\fP 第 \fB206\fP 行定义\&.
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.SH "成员函数说明"
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.PP
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.SS "void bsp_Increment_PID::clean (void)"
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.PP
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清理历史数据
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.PP
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\fB返回\fP
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.RS 4
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清除PID运算数据
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.RE
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.PP
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.PP
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在文件 \fBbsp_PID\&.cpp\fP 第 \fB106\fP 行定义\&.
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.SS "float bsp_Increment_PID::PID (float temp)"
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.PP
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PID算法
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.PP
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\fB参数\fP
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.RS 4
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\fItemp\fP 目前变量
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.RE
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.PP
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\fB返回\fP
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.RS 4
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返回调整量
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.RE
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.PP
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.PP
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在文件 \fBbsp_PID\&.cpp\fP 第 \fB69\fP 行定义\&.
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.SS "void bsp_Increment_PID::set (float P, float I, float D)"
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.PP
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PID参数设置
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.PP
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\fB参数\fP
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.RS 4
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\fIP\fP P参数
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.br
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\fII\fP I参数
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.br
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\fID\fP D参数
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.RE
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.PP
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.PP
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在文件 \fBbsp_PID\&.cpp\fP 第 \fB128\fP 行定义\&.
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.SH "类成员变量说明"
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.PP
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.SS "float bsp_Increment_PID::Kd"
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.PP
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积分系数
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB87\fP 行定义\&.
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.SS "float bsp_Increment_PID::Ki"
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.PP
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微分系数
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB88\fP 行定义\&.
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.SS "float bsp_Increment_PID::Kp"
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.PP
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比例系数
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB86\fP 行定义\&.
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.SS "float bsp_Increment_PID::lasterror\fC [private]\fP"
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.PP
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前一拍偏差
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB91\fP 行定义\&.
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.SS "float bsp_Increment_PID::preerror\fC [private]\fP"
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.PP
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前两拍偏差
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB92\fP 行定义\&.
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.SS "float bsp_Increment_PID::result"
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.PP
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输出值
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB89\fP 行定义\&.
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.SS "float bsp_Increment_PID::result_H\fC [private]\fP"
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.PP
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输出最高值
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB94\fP 行定义\&.
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.SS "float bsp_Increment_PID::result_L\fC [private]\fP"
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.PP
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输出最低值
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB95\fP 行定义\&.
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.SS "float bsp_Increment_PID::target"
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.PP
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设定值
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.PP
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在文件 \fBbsp_PID\&.h\fP 第 \fB85\fP 行定义\&.
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.SH "作者"
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.PP
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由 Doyxgen 通过分析 MF32BSP_XerolySkinner 的 源代码自动生成\&.
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