bsp_PID.cpp
D:/gitt/MicrochipFor32/bsp_Device/bsp_PID.cpp
浏览该文件的文档.00001 /*----------------------------------------------------------------------------------------------------
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00023
00035 //----------------------------------------------------------------------------------------------------
00036 // 头文件
00037 //
00038 #include "bsp_PID.h"
00040 //----------------------------------------------------------------------------------------------------
00041 // 类函数
00042 //
00048 float bsp_Position_PID::PID(float temp) {
00049 float thisError;
00050 thisError = target - temp; //当前误差等于设定值减去当前值
00051 integral += thisError; //误差积分，把所有误差累加起来
00052 result =
00053 Kp * thisError +
00054 Ki * integral +
00055 Kd * (thisError - lasterror);
00056 lasterror = thisError;
00057
00058 if (result_H == result_L)return result;
00059 if (result >= result_H)result == result_H;
00060 else if (result <= result_L)result == result_L;
00061 return result;
00062 }
00063 //----------------------------------------------------------------------------------------------------
00069 float bsp_Increment_PID::PID(float temp) {
00070 float thisError=target - temp; //当前误差等于设定值减去当前值
00071 float increment;
00072 float pError, dError, iError;
00073
00074 pError = thisError - lasterror;
00075 iError = thisError;
00076 dError = thisError - 2 * lasterror + preerror;
00077
00078 increment =
00079 Kp * pError +
00080 Ki * iError +
00081 Kd * dError; //增量计算
00082 preerror = lasterror; //存放偏差用于下次运算
00083 lasterror = thisError; //存放偏差用于下次运算
00084 result += increment; //上次结果叠加增量
00085
00086 if (result_H == result_L)return result;
00087 if (result >= result_H)result == result_H;
00088 else if (result <= result_L)result == result_L;
00089 return result;}
00090 //----------------------------------------------------------------------------------------------------
00091 //----------------------------------------------------------------------------------------------------
00096 void bsp_Position_PID::clean(void) {
00097 integral = 0; //积分值
00098 lasterror = 0; //前一拍偏差
00099 result = 0; //输出值
00100 }
00101 //----------------------------------------------------------------------------------------------------
00106 void bsp_Increment_PID::clean(void) {
00107 lasterror = 0; //前一拍偏差
00108 preerror = 0; //前两拍偏差
00109 result = 0; //输出值
00110 }
00111 //----------------------------------------------------------------------------------------------------
00112 //----------------------------------------------------------------------------------------------------
00119 void bsp_Position_PID::set(float P, float I, float D) {
00120 Kp = P; Ki = I; Kd = D;}
00121 //----------------------------------------------------------------------------------------------------
00128 void bsp_Increment_PID::set(float P, float I, float D) {
00129 Kp = P; Ki = I; Kd = D;}
00131 //----------------------------------------------------------------------------------------------------
00132 // 构造函数
00133 //
00134 bsp_Position_PID::bsp_Position_PID(void) {
00135 bsp_Position_PID::target = 0;
00136 bsp_Position_PID::lasterror = 0;
00137 bsp_Position_PID::Kp = 0;
00138 bsp_Position_PID::Ki = 0;
00139 bsp_Position_PID::Kd = 0;
00140 bsp_Position_PID::integral = 0;
00141 bsp_Position_PID::result = 0;
00142 bsp_Position_PID::result_H = 0;
00143 bsp_Position_PID::result_L = 0;
00144 }
00145 //----------------------------------------------------------------------------------------------------
00155 bsp_Position_PID::bsp_Position_PID(
00156 float Kp, float Ki, float Kd, float target,
00157 float result_H, float result_L) {
00158 bsp_Position_PID::target = target;
00159 bsp_Position_PID::lasterror = 0;
00160 bsp_Position_PID::Kp = Kp;
00161 bsp_Position_PID::Ki = Ki;
00162 bsp_Position_PID::Kd = Kd;
00163 bsp_Position_PID::integral = 0;
00164 bsp_Position_PID::result = 0;
00165 bsp_Position_PID::result_H = 0;
00166 bsp_Position_PID::result_L = 0;
00167 }
00168 //----------------------------------------------------------------------------------------------------
00169 bsp_Position_PID::~bsp_Position_PID(void) {}
00170 //----------------------------------------------------------------------------------------------------
00171 bsp_Increment_PID::bsp_Increment_PID(void) {
00172 bsp_Increment_PID::target = 0;
00173 bsp_Increment_PID::lasterror = 0;
00174 bsp_Increment_PID::preerror = 0;
00175 bsp_Increment_PID::Kp = 0;
00176 bsp_Increment_PID::Ki = 0;
00177 bsp_Increment_PID::Kd = 0;
00178 bsp_Increment_PID::result = 0;
00179 bsp_Increment_PID::result_H = 0;
00180 bsp_Increment_PID::result_L = 0;
00181 }
00182 //----------------------------------------------------------------------------------------------------
00192 bsp_Increment_PID::bsp_Increment_PID(
00193 float Kp, float Ki, float Kd, float target,
00194 float result_H, float result_L) {
00195 bsp_Increment_PID::target = target;
00196 bsp_Increment_PID::lasterror = 0;
00197 bsp_Increment_PID::preerror = 0;
00198 bsp_Increment_PID::Kp = Kp;
00199 bsp_Increment_PID::Ki = Ki;
00200 bsp_Increment_PID::Kd = Kd;
00201 bsp_Increment_PID::result = 0;
00202 bsp_Increment_PID::result_H = 0;
00203 bsp_Increment_PID::result_L = 0;
00204 }
00205 //----------------------------------------------------------------------------------------------------
00206 bsp_Increment_PID::~bsp_Increment_PID(void) {}