速度PID

zzcjack · 发表于 2010-5-19 11:02:52

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程辉程辉 · 发表于 2010-8-8 11:16:23

void SpeedPIDCtl(int real_speed, int aim_speed)
{
unsigned char i;
int tempSpeed;
int sum_error;
sum_error = 0;
SpeedPID.Proportion = Kp;
SpeedPID.Derivation = Kd;
SpeedPID.Integral = Ki;
SpeedPID.SetPoint =  aim_speed;
for(i=0; i<ERR_NUM -1; i++)
{
      SpeedPID.Error[i] = SpeedPID.Error[i+1];
      sum_error += SpeedPID.Error[i];
}
SpeedPID.Error[ERR_NUM-1] = SpeedPID.SetPoint - real_speed;
sum_error += SpeedPID.Error[ERR_NUM-1];
SpeedPID.DerError[LAST_ERR_NUM-1] = SpeedPID.Error[ERR_NUM-1] - SpeedPID.Error[ERR_NUM-2];
SpeedPID.dError  =  SpeedPID.DerError[LAST_ERR_NUM-1] - SpeedPID.DerError[0];
for(i=0; i<LAST_ERR_NUM-1; i++)
{
      SpeedPID.DerError[i] = SpeedPID.DerError[i+1];
}
tempSpeed = SpeedPID.Proportion * SpeedPID.Error[ERR_NUM-1] +
            SpeedPID.Integral * sum_error +
            SpeedPID.Derivation * SpeedPID.dError;}

一起看吧

zhang54188 · 发表于 2011-4-14 02:20:35

zhang54188 · 发表于 2011-4-14 02:20:30

虫子 · 发表于 2011-4-13 15:58:06

很汗颜这样的东西都可以拿出来卖钱。。。我都可以写了。。。

灯火楼台 · 发表于 2010-10-28 21:47:00

void SpeedPIDCtl(int real_speed, int aim_speed)
{
unsigned char i;
int tempSpeed;
int sum_error;
sum_error = 0;
SpeedPID.Proportion = Kp;
SpeedPID.Derivation = Kd;
SpeedPID.Integral = Ki;
SpeedPID.SetPoint =  aim_speed;
for(i=0; i<ERR_NUM -1; i++)
{
      SpeedPID.Error[i] = SpeedPID.Error[i+1];
      sum_error += SpeedPID.Error[i];
}
SpeedPID.Error[ERR_NUM-1] = SpeedPID.SetPoint - real_speed;
sum_error += SpeedPID.Error[ERR_NUM-1];
SpeedPID.DerError[LAST_ERR_NUM-1] = SpeedPID.Error[ERR_NUM-1] - SpeedPID.Error[ERR_NUM-2];
SpeedPID.dError  =  SpeedPID.DerError[LAST_ERR_NUM-1] - SpeedPID.DerError[0];
for(i=0; i<LAST_ERR_NUM-1; i++)
{
      SpeedPID.DerError[i] = SpeedPID.DerError[i+1];
}
tempSpeed = SpeedPID.Proportion * SpeedPID.Error[ERR_NUM-1] +
            SpeedPID.Integral * sum_error +
            SpeedPID.Derivation * SpeedPID.dError;}
一起看~~~~~~

mengwang2009 · 发表于 2010-10-28 19:01:11

好贵呀

panwei1988 · 发表于 2010-9-10 21:27:32

有些贵为什么我没有看楼下亏大了

情比金坚2010 · 发表于 2010-8-8 12:40:17

回复 10# 程辉程辉

谢

cgxcg · 发表于 2010-7-15 12:30:44

好想买不起。。。。。。。

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速度PID

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