PID例子
[电机与驱动] 一个简单的PIDPID
#include <hidef.h> /* common defines and macros */
#include "derivative.h" /* derivative-specific definitions */
#include <mc9s12xs128.h>
//定义PID参数
#define VV_KPVALUE 3 //比例
#define VV_KIVALUE 40 //积分
#define VV_KDVALUE 3 //微分
#define VV_MAX 10000 //返回的最大值,是pwm的周期值
#define VV_MIN 0
#define VV_DEADLINE 0X08 //速度PID，设置死区范围
typedef struct PID //定义数法核心数据
{
signed int vi_Ref; //速度PID，速度设定值
signed int vi_FeedBack;//速度PID，速度反馈值
signed long vi_PreError;//速度PID，前一次，速度误差,,vi_Ref - vi_FeedBack
signed long vi_PreDerror; //速度PID，前一次，速度误差之差，d_error-PreDerror;
unsigned int v_Kp; //速度PID，Ka = Kp
unsigned int v_Ki; //速度PID，Kb = Kp * ( T / Ti )
unsigned int v_Kd; //速度PID，
signed long vl_PreU; //电机控制输出值
}PID;
PIDsPID; //PID Control Structure
void PIDInit(void)
{
sPID.vi_Ref = 0 ; //速度设定值
sPID.vi_FeedBack = 0 ;//速度反馈值
sPID.vi_PreError = 0 ; //前一次，速度误差,,vi_Ref - vi_FeedBack
sPID.vi_PreDerror = 0 ; //前一次，速度误差之差，d_error-PreDerror;
sPID.v_Kp = VV_KPVALUE;
sPID.v_Ki = VV_KIVALUE;
sPID.v_Kd = VV_KDVALUE;
sPID.vl_PreU = 0 ; //电机控制输出值
}
unsigned int v_PIDCalc( PID *pp )
{
signed longerror,d_error,dd_error;
error = (signed long)(pp->vi_Ref - pp->vi_FeedBack); // 偏差计算
d_error = error - pp->vi_PreError;
dd_error = d_error - pp->vi_PreDerror;
pp->vi_PreError = error; //存储当前偏差
pp->vi_PreDerror = d_error;
if( ( error < VV_DEADLINE ) && ( error > -VV_DEADLINE ) ); //设置调节死区
//速度PID计算
pp->vl_PreU += (signed long)(pp -> v_Kp * d_error + pp -> v_Ki * error+ pp->v_Kd*dd_error);
else if( pp->vl_PreU >= VV_MAX ) //速度PID，防止调节最高溢出
pp->vl_PreU = VV_MAX;
else if( pp->vl_PreU <= VV_MIN ) //速度PID，防止调节最低溢出
pp->vl_PreU = VV_MIN;
else
;
return ( pp->vl_PreU);// 返回预调节占空比
}
void main(void) {
/* put your own code here */
InitMCu();
IncPIDInit();
int g_CurrentVelocity=0; //全局变量也初始化
int g_Flag=0; //全局变量也初始化
EnableInterrupts;
While(1)
{
if (g_Flag&&vi_FeedBack)
{
PWMOUT+=v_PIDCalc( PID *pp );
g_Flag&=~ vi_FeedBack;
}
}
}
for(;;) {
_FEED_COP(); /* feeds the dog */
} /* loop forever */
/* please make sure that you never leave main */
}
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