bsp_Increment_PID bsp_PID.h float float bsp_Increment_PID::target target bsp_Increment_PID::target 设定值 bsp_Increment_PID PID float float bsp_Increment_PID::Kp Kp bsp_Increment_PID::Kp 比例系数 bsp_Increment_PID PID set float float bsp_Increment_PID::Kd Kd bsp_Increment_PID::Kd 积分系数 bsp_Increment_PID PID set float float bsp_Increment_PID::Ki Ki bsp_Increment_PID::Ki 微分系数 bsp_Increment_PID PID set float float bsp_Increment_PID::result result bsp_Increment_PID::result 输出值 bsp_Increment_PID clean PID float float bsp_Increment_PID::lasterror lasterror bsp_Increment_PID::lasterror 前一拍偏差 bsp_Increment_PID clean PID float float bsp_Increment_PID::preerror preerror bsp_Increment_PID::preerror 前两拍偏差 bsp_Increment_PID clean PID float float bsp_Increment_PID::result_H result_H bsp_Increment_PID::result_H 输出最高值 bsp_Increment_PID PID float float bsp_Increment_PID::result_L result_L bsp_Increment_PID::result_L 输出最低值 bsp_Increment_PID PID bsp_Increment_PID::bsp_Increment_PID (void) bsp_Increment_PID bsp_Increment_PID::bsp_Increment_PID void Kd Ki Kp lasterror preerror result result_H result_L target bsp_Increment_PID::bsp_Increment_PID (float Kp, float Ki, float Kd, float target, float result_H, float result_L) bsp_Increment_PID bsp_Increment_PID::bsp_Increment_PID float Kp float Ki float Kd float target float result_H float result_L PID算法 Kp P参数 Ki I参数 Kd D参数 target 目标值 result_H 输出最大值 result_L 输出最小值 Kd Ki Kp lasterror preerror result result_H result_L target bsp_Increment_PID::~bsp_Increment_PID (void) ~bsp_Increment_PID bsp_Increment_PID::~bsp_Increment_PID void float float bsp_Increment_PID::PID (float temp) PID bsp_Increment_PID::PID float temp PID算法 temp 目前变量 返回调整量 Kd Ki Kp lasterror preerror result result_H result_L target void void bsp_Increment_PID::clean (void) clean bsp_Increment_PID::clean void 清理历史数据 清除PID运算数据 lasterror preerror result void void bsp_Increment_PID::set (float P, float I, float D) set bsp_Increment_PID::set float P float I float D PID参数设置 P P参数 I I参数 D D参数 Kd Ki Kp 增量法为基础的PID算法 bsp_Increment_PIDbsp_Increment_PID bsp_Increment_PIDbsp_Increment_PID bsp_Increment_PIDclean bsp_Increment_PIDKd bsp_Increment_PIDKi bsp_Increment_PIDKp bsp_Increment_PIDlasterror bsp_Increment_PIDPID bsp_Increment_PIDpreerror bsp_Increment_PIDresult bsp_Increment_PIDresult_H bsp_Increment_PIDresult_L bsp_Increment_PIDset bsp_Increment_PIDtarget bsp_Increment_PID~bsp_Increment_PID