一个简单的PID

denghongjian · 发表于 2010-3-3 16:59:09

复制代码

#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;
PID  sPID;             //  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 long  error,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 */
}