RETURN VALUE The new output value for the pid loop.
USAGE ＃i nclude \
float pid_calc(struct _pid *pid)
{ int err;
float pterm, dterm, result, ferror;
err = (pid->sp) - (pid->pv); if (abs(err) > pid->deadband)
{
ferror = (float) err; /*do integer to float conversion only once*/
pterm = pid->pgain * ferror; if (pterm > 100 || pterm < -100)
{
pid->integral = 0.0;
} else {
pid->integral += pid->igain * ferror;
if (pid->integral > 100.0)
{
pid->integral = 100.0;
}
else if (pid->integral < 0.0) pid->integral = 0.0;
}
dterm = ((float)(err - pid->last_error)) * pid->dgain;
result = pterm + pid->integral + dterm;
}
else result = pid->integral;
pid->last_error = err;
return (result);
}
void main(void)
{
float display_value;
int count=0;
pid = &warm;
// printf(\
I gain, D gain \\n\
// scanf(\
&i_gain, &d_gain);
process_point = 30; set_point = 40; p_gain = (float)(5.2); i_gain = (float)(0.77); d_gain = (float)(0.18);
dead_band = 2;
integral_val =(float)(0.01);
printf(\
D gain \\n\
printf(\
p_gain, i_gain, d_gain);
printf(\
while(count<=20)
{
scanf(\
pid_init(&warm, process_point, set_point); pid_tune(&warm, p_gain,i_gain,d_gain,dead_band); pid_setinteg(&warm,0.0); //pid_setinteg(&warm,30.0);
//Get input value for process point
pid_bumpless(&warm);
// how to display output display_value = pid_calc(&warm); printf(\
//printf(\
count++;
}
} 看贴必回帖
viper_love
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单片机高中生
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3# 大 中 小 发表于 2009-5-23 19:49 只看该作者
谢谢
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蒋辉jh
单片机教授
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viper_love
单片机高中生
? 个人空间 ? 发短消息 ? 加为好友 ? 当前离线 4#
大 中 小 发表于 2009-5-23 19:49 只看该作者
看看
承接： 单片机项目及毕业设计
QQ : 546138373 TEL : 13197105690
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5# 大 中 小 发表于 2009-6-16 18:26 只看该作者
谢谢，万分感谢