\hypertarget{classbsp___increment___p_i_d}{}\doxysection{bsp\+\_\+\+Increment\+\_\+\+PID类 参考} \label{classbsp___increment___p_i_d}\index{bsp\_Increment\_PID@{bsp\_Increment\_PID}} 增量法为基础的\+PID算法 {\ttfamily \#include $<$bsp\+\_\+\+PID.\+h$>$} \doxysubsection*{Public 成员函数} \begin{DoxyCompactItemize} \item \mbox{\hyperlink{classbsp___increment___p_i_d_a1dec336ee026d7e1148dfb68052055d2}{bsp\+\_\+\+Increment\+\_\+\+PID}} (void) \item \mbox{\hyperlink{classbsp___increment___p_i_d_a33b07a33c9ba2accc10a4bcf5a8b7be9}{bsp\+\_\+\+Increment\+\_\+\+PID}} (float \mbox{\hyperlink{classbsp___increment___p_i_d_a4bd6b08091f76f357da2dab404a3a97b}{Kp}}, float \mbox{\hyperlink{classbsp___increment___p_i_d_a368b2b2bd531ef46a9518889f9f07eec}{Ki}}, float \mbox{\hyperlink{classbsp___increment___p_i_d_acbe47a0c902698a6e11db1d0651a2627}{Kd}}, float \mbox{\hyperlink{classbsp___increment___p_i_d_a6f2142a4e99c8a6bd5b604fe53c8e6b1}{target}}, float \mbox{\hyperlink{classbsp___increment___p_i_d_a90bb2ca2ebe196b8063183336c63186a}{result\+\_\+H}}, float \mbox{\hyperlink{classbsp___increment___p_i_d_a17d1546dc185ae482d4d7b72af1ac5cd}{result\+\_\+L}}) \begin{DoxyCompactList}\small\item\em PID算法 \end{DoxyCompactList}\item \mbox{\hyperlink{classbsp___increment___p_i_d_a3eb46ef6d491464f9cc8bfdc0ded1155}{$\sim$bsp\+\_\+\+Increment\+\_\+\+PID}} (void) \item float \mbox{\hyperlink{classbsp___increment___p_i_d_a7f39310ecc4cd1f8029a6545bd37e0a9}{PID}} (float temp) \begin{DoxyCompactList}\small\item\em PID算法 \end{DoxyCompactList}\item void \mbox{\hyperlink{classbsp___increment___p_i_d_aa1cab8492ec6a289debfc215689d9b38}{clean}} (void) \begin{DoxyCompactList}\small\item\em 清理历史数据 \end{DoxyCompactList}\item void \mbox{\hyperlink{classbsp___increment___p_i_d_aeddd6d60b615571d390653e9a958b2b4}{set}} (float P, float I, float D) \begin{DoxyCompactList}\small\item\em PID参数设置 \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Public 属性} \begin{DoxyCompactItemize} \item float \mbox{\hyperlink{classbsp___increment___p_i_d_a6f2142a4e99c8a6bd5b604fe53c8e6b1}{target}} \begin{DoxyCompactList}\small\item\em 设定值 \end{DoxyCompactList}\item float \mbox{\hyperlink{classbsp___increment___p_i_d_a4bd6b08091f76f357da2dab404a3a97b}{Kp}} \begin{DoxyCompactList}\small\item\em 比例系数 \end{DoxyCompactList}\item float \mbox{\hyperlink{classbsp___increment___p_i_d_acbe47a0c902698a6e11db1d0651a2627}{Kd}} \begin{DoxyCompactList}\small\item\em 积分系数 \end{DoxyCompactList}\item float \mbox{\hyperlink{classbsp___increment___p_i_d_a368b2b2bd531ef46a9518889f9f07eec}{Ki}} \begin{DoxyCompactList}\small\item\em 微分系数 \end{DoxyCompactList}\item float \mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}} \begin{DoxyCompactList}\small\item\em 输出值 \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{Private 属性} \begin{DoxyCompactItemize} \item float \mbox{\hyperlink{classbsp___increment___p_i_d_aaf7c047c9aa963bb6b7524fd8fc6242b}{lasterror}} \begin{DoxyCompactList}\small\item\em 前一拍偏差 \end{DoxyCompactList}\item float \mbox{\hyperlink{classbsp___increment___p_i_d_a8df6076b4bb4d4d1e4c7ee2777defb82}{preerror}} \begin{DoxyCompactList}\small\item\em 前两拍偏差 \end{DoxyCompactList}\item float \mbox{\hyperlink{classbsp___increment___p_i_d_a90bb2ca2ebe196b8063183336c63186a}{result\+\_\+H}} \begin{DoxyCompactList}\small\item\em 输出最高值 \end{DoxyCompactList}\item float \mbox{\hyperlink{classbsp___increment___p_i_d_a17d1546dc185ae482d4d7b72af1ac5cd}{result\+\_\+L}} \begin{DoxyCompactList}\small\item\em 输出最低值 \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection{详细描述} 增量法为基础的\+PID算法 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00073}{73}} 行定义. \doxysubsection{构造及析构函数说明} \mbox{\Hypertarget{classbsp___increment___p_i_d_a1dec336ee026d7e1148dfb68052055d2}\label{classbsp___increment___p_i_d_a1dec336ee026d7e1148dfb68052055d2}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{bsp\_Increment\_PID()}{bsp\_Increment\_PID()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}} {\footnotesize\ttfamily bsp\+\_\+\+Increment\+\_\+\+PID\+::bsp\+\_\+\+Increment\+\_\+\+PID (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})} 在文件 \mbox{\hyperlink{bsp___p_i_d_8cpp_source}{bsp\+\_\+\+PID.\+cpp}} 第 \mbox{\hyperlink{bsp___p_i_d_8cpp_source_l00171}{171}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a33b07a33c9ba2accc10a4bcf5a8b7be9}\label{classbsp___increment___p_i_d_a33b07a33c9ba2accc10a4bcf5a8b7be9}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{bsp\_Increment\_PID()}{bsp\_Increment\_PID()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}} {\footnotesize\ttfamily bsp\+\_\+\+Increment\+\_\+\+PID\+::bsp\+\_\+\+Increment\+\_\+\+PID (\begin{DoxyParamCaption}\item[{float}]{Kp, }\item[{float}]{Ki, }\item[{float}]{Kd, }\item[{float}]{target, }\item[{float}]{result\+\_\+H, }\item[{float}]{result\+\_\+L }\end{DoxyParamCaption})} PID算法 \begin{DoxyParams}{参数} {\em Kp} & P参数 \\ \hline {\em Ki} & I参数 \\ \hline {\em Kd} & D参数 \\ \hline {\em target} & 目标值 \\ \hline {\em result\+\_\+H} & 输出最大值 \\ \hline {\em result\+\_\+L} & 输出最小值 \\ \hline \end{DoxyParams} 在文件 \mbox{\hyperlink{bsp___p_i_d_8cpp_source}{bsp\+\_\+\+PID.\+cpp}} 第 \mbox{\hyperlink{bsp___p_i_d_8cpp_source_l00192}{192}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a3eb46ef6d491464f9cc8bfdc0ded1155}\label{classbsp___increment___p_i_d_a3eb46ef6d491464f9cc8bfdc0ded1155}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!````~bsp\_Increment\_PID@{$\sim$bsp\_Increment\_PID}} \index{````~bsp\_Increment\_PID@{$\sim$bsp\_Increment\_PID}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{$\sim$bsp\_Increment\_PID()}{~bsp\_Increment\_PID()}} {\footnotesize\ttfamily bsp\+\_\+\+Increment\+\_\+\+PID\+::$\sim$bsp\+\_\+\+Increment\+\_\+\+PID (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})} 在文件 \mbox{\hyperlink{bsp___p_i_d_8cpp_source}{bsp\+\_\+\+PID.\+cpp}} 第 \mbox{\hyperlink{bsp___p_i_d_8cpp_source_l00206}{206}} 行定义. \doxysubsection{成员函数说明} \mbox{\Hypertarget{classbsp___increment___p_i_d_aa1cab8492ec6a289debfc215689d9b38}\label{classbsp___increment___p_i_d_aa1cab8492ec6a289debfc215689d9b38}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!clean@{clean}} \index{clean@{clean}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{clean()}{clean()}} {\footnotesize\ttfamily void bsp\+\_\+\+Increment\+\_\+\+PID\+::clean (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})} 清理历史数据 \begin{DoxyReturn}{返回} 清除\+PID运算数据 \end{DoxyReturn} 在文件 \mbox{\hyperlink{bsp___p_i_d_8cpp_source}{bsp\+\_\+\+PID.\+cpp}} 第 \mbox{\hyperlink{bsp___p_i_d_8cpp_source_l00106}{106}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a7f39310ecc4cd1f8029a6545bd37e0a9}\label{classbsp___increment___p_i_d_a7f39310ecc4cd1f8029a6545bd37e0a9}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!PID@{PID}} \index{PID@{PID}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{PID()}{PID()}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::\+PID (\begin{DoxyParamCaption}\item[{float}]{temp }\end{DoxyParamCaption})} PID算法 \begin{DoxyParams}{参数} {\em temp} & 目前变量 \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 返回调整量 \end{DoxyReturn} 在文件 \mbox{\hyperlink{bsp___p_i_d_8cpp_source}{bsp\+\_\+\+PID.\+cpp}} 第 \mbox{\hyperlink{bsp___p_i_d_8cpp_source_l00069}{69}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_aeddd6d60b615571d390653e9a958b2b4}\label{classbsp___increment___p_i_d_aeddd6d60b615571d390653e9a958b2b4}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!set@{set}} \index{set@{set}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{set()}{set()}} {\footnotesize\ttfamily void bsp\+\_\+\+Increment\+\_\+\+PID\+::set (\begin{DoxyParamCaption}\item[{float}]{P, }\item[{float}]{I, }\item[{float}]{D }\end{DoxyParamCaption})} PID参数设置 \begin{DoxyParams}{参数} {\em P} & P参数 \\ \hline {\em I} & I参数 \\ \hline {\em D} & D参数 \\ \hline \end{DoxyParams} 在文件 \mbox{\hyperlink{bsp___p_i_d_8cpp_source}{bsp\+\_\+\+PID.\+cpp}} 第 \mbox{\hyperlink{bsp___p_i_d_8cpp_source_l00128}{128}} 行定义. \doxysubsection{类成员变量说明} \mbox{\Hypertarget{classbsp___increment___p_i_d_acbe47a0c902698a6e11db1d0651a2627}\label{classbsp___increment___p_i_d_acbe47a0c902698a6e11db1d0651a2627}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!Kd@{Kd}} \index{Kd@{Kd}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{Kd}{Kd}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::\+Kd} 积分系数 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00087}{87}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a368b2b2bd531ef46a9518889f9f07eec}\label{classbsp___increment___p_i_d_a368b2b2bd531ef46a9518889f9f07eec}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!Ki@{Ki}} \index{Ki@{Ki}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{Ki}{Ki}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::\+Ki} 微分系数 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00088}{88}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a4bd6b08091f76f357da2dab404a3a97b}\label{classbsp___increment___p_i_d_a4bd6b08091f76f357da2dab404a3a97b}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!Kp@{Kp}} \index{Kp@{Kp}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{Kp}{Kp}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::\+Kp} 比例系数 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00086}{86}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_aaf7c047c9aa963bb6b7524fd8fc6242b}\label{classbsp___increment___p_i_d_aaf7c047c9aa963bb6b7524fd8fc6242b}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!lasterror@{lasterror}} \index{lasterror@{lasterror}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{lasterror}{lasterror}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::lasterror\hspace{0.3cm}{\ttfamily [private]}} 前一拍偏差 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00091}{91}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a8df6076b4bb4d4d1e4c7ee2777defb82}\label{classbsp___increment___p_i_d_a8df6076b4bb4d4d1e4c7ee2777defb82}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!preerror@{preerror}} \index{preerror@{preerror}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{preerror}{preerror}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::preerror\hspace{0.3cm}{\ttfamily [private]}} 前两拍偏差 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00092}{92}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}\label{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!result@{result}} \index{result@{result}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{result}{result}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::result} 输出值 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00089}{89}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a90bb2ca2ebe196b8063183336c63186a}\label{classbsp___increment___p_i_d_a90bb2ca2ebe196b8063183336c63186a}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!result\_H@{result\_H}} \index{result\_H@{result\_H}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{result\_H}{result\_H}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::result\+\_\+H\hspace{0.3cm}{\ttfamily [private]}} 输出最高值 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00094}{94}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a17d1546dc185ae482d4d7b72af1ac5cd}\label{classbsp___increment___p_i_d_a17d1546dc185ae482d4d7b72af1ac5cd}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!result\_L@{result\_L}} \index{result\_L@{result\_L}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{result\_L}{result\_L}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::result\+\_\+L\hspace{0.3cm}{\ttfamily [private]}} 输出最低值 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00095}{95}} 行定义. \mbox{\Hypertarget{classbsp___increment___p_i_d_a6f2142a4e99c8a6bd5b604fe53c8e6b1}\label{classbsp___increment___p_i_d_a6f2142a4e99c8a6bd5b604fe53c8e6b1}} \index{bsp\_Increment\_PID@{bsp\_Increment\_PID}!target@{target}} \index{target@{target}!bsp\_Increment\_PID@{bsp\_Increment\_PID}} \doxysubsubsection{\texorpdfstring{target}{target}} {\footnotesize\ttfamily float bsp\+\_\+\+Increment\+\_\+\+PID\+::target} 设定值 在文件 \mbox{\hyperlink{bsp___p_i_d_8h_source}{bsp\+\_\+\+PID.\+h}} 第 \mbox{\hyperlink{bsp___p_i_d_8h_source_l00085}{85}} 行定义. 该类的文档由以下文件生成\+:\begin{DoxyCompactItemize} \item D\+:/gitt/\+Microchip\+For32/bsp\+\_\+\+Device/\mbox{\hyperlink{bsp___p_i_d_8h}{bsp\+\_\+\+PID.\+h}}\item D\+:/gitt/\+Microchip\+For32/bsp\+\_\+\+Device/\mbox{\hyperlink{bsp___p_i_d_8cpp}{bsp\+\_\+\+PID.\+cpp}}\end{DoxyCompactItemize}