bsp_PID.cpp

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/*----------------------------------------------------------------------------------------------------
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 #  Copyright (c) 2022 Yuankang Liang(XerolySkinner)
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//----------------------------------------------------------------------------------------------------
//  头文件
//  
#include "bsp_PID.h"
//----------------------------------------------------------------------------------------------------
//  类函数
//  
float bsp_Position_PID::PID(float temp) {
    float thisError;
    thisError = target - temp;      //当前误差等于设定值减去当前值
    integral += thisError;          //误差积分，把所有误差累加起来
    result = 
        Kp * thisError + 
        Ki * integral + 
        Kd * (thisError - lasterror);
    lasterror = thisError;
 
    if (result_H == result_L)return result;
    if (result >= result_H)result == result_H;
    else if (result <= result_L)result == result_L;
    return result;
}
//----------------------------------------------------------------------------------------------------
float bsp_Increment_PID::PID(float temp) {
    float thisError=target - temp;  //当前误差等于设定值减去当前值
    float increment;
    float pError, dError, iError;
 
    pError = thisError - lasterror;
    iError = thisError;
    dError = thisError - 2 * lasterror + preerror;
 
    increment = 
        Kp * pError + 
        Ki * iError + 
        Kd * dError;                //增量计算
    preerror = lasterror;           //存放偏差用于下次运算
    lasterror = thisError;          //存放偏差用于下次运算
    result += increment;            //上次结果叠加增量
 
    if (result_H == result_L)return result;
    if (result >= result_H)result == result_H;
    else if (result <= result_L)result == result_L;
    return result;}
//----------------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------
void bsp_Position_PID::clean(void) {
    integral = 0;       //积分值
    lasterror = 0;      //前一拍偏差
    result = 0;         //输出值
    }
//----------------------------------------------------------------------------------------------------
void bsp_Increment_PID::clean(void) {
    lasterror = 0;      //前一拍偏差   
    preerror = 0;       //前两拍偏差
    result = 0;         //输出值
    }
//----------------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------
void bsp_Position_PID::set(float P, float I, float D) {
    Kp = P; Ki = I; Kd = D;}
//----------------------------------------------------------------------------------------------------
void bsp_Increment_PID::set(float P, float I, float D) {
    Kp = P; Ki = I; Kd = D;}
//----------------------------------------------------------------------------------------------------
//  构造函数
//  
bsp_Position_PID::bsp_Position_PID(void) {
    bsp_Position_PID::target = 0;
    bsp_Position_PID::lasterror = 0;
    bsp_Position_PID::Kp = 0;
    bsp_Position_PID::Ki = 0;
    bsp_Position_PID::Kd = 0;
    bsp_Position_PID::integral = 0;
    bsp_Position_PID::result = 0;
    bsp_Position_PID::result_H = 0;
    bsp_Position_PID::result_L = 0;
}
//----------------------------------------------------------------------------------------------------
bsp_Position_PID::bsp_Position_PID(
        float Kp, float Ki, float Kd, float target,
        float result_H, float result_L) {
    bsp_Position_PID::target = target;
    bsp_Position_PID::lasterror = 0;
    bsp_Position_PID::Kp = Kp;
    bsp_Position_PID::Ki = Ki;
    bsp_Position_PID::Kd = Kd;
    bsp_Position_PID::integral = 0;
    bsp_Position_PID::result = 0;
    bsp_Position_PID::result_H = 0;
    bsp_Position_PID::result_L = 0;
}
//----------------------------------------------------------------------------------------------------
bsp_Position_PID::~bsp_Position_PID(void) {}
//----------------------------------------------------------------------------------------------------
bsp_Increment_PID::bsp_Increment_PID(void) {
    bsp_Increment_PID::target = 0;
    bsp_Increment_PID::lasterror = 0;
    bsp_Increment_PID::preerror = 0;
    bsp_Increment_PID::Kp = 0;
    bsp_Increment_PID::Ki = 0;
    bsp_Increment_PID::Kd = 0;
    bsp_Increment_PID::result = 0;
    bsp_Increment_PID::result_H = 0;
    bsp_Increment_PID::result_L = 0;
}
//----------------------------------------------------------------------------------------------------
bsp_Increment_PID::bsp_Increment_PID(
        float Kp, float Ki, float Kd, float target,
    float result_H, float result_L) {
    bsp_Increment_PID::target = target;
    bsp_Increment_PID::lasterror = 0;
    bsp_Increment_PID::preerror = 0;
    bsp_Increment_PID::Kp = Kp;
    bsp_Increment_PID::Ki = Ki;
    bsp_Increment_PID::Kd = Kd;
    bsp_Increment_PID::result = 0;
    bsp_Increment_PID::result_H = 0;
    bsp_Increment_PID::result_L = 0;
}
//----------------------------------------------------------------------------------------------------
bsp_Increment_PID::~bsp_Increment_PID(void) {}