RUST实现pid算法
时间: 2023-09-18 10:14:29 浏览: 37
下面是一个简单的Rust实现PID算法的示例代码:
```rust
struct PIDController {
kp: f64, // 比例增益
ki: f64, // 积分增益
kd: f64, // 微分增益
set_point: f64, // 目标值
last_error: f64, // 上一次误差
integral: f64, // 积分项
}
impl PIDController {
fn new(kp: f64, ki: f64, kd: f64, set_point: f64) -> Self {
Self {
kp,
ki,
kd,
set_point,
last_error: 0.0,
integral: 0.0,
}
}
fn compute(&mut self, input: f64) -> f64 {
let error = self.set_point - input; // 计算误差
self.integral += error; // 计算积分项
let derivative = error - self.last_error; // 计算微分项
self.last_error = error;
// 计算PID输出
let output = self.kp * error + self.ki * self.integral + self.kd * derivative;
return output;
}
}
```
使用示例:
```rust
fn main() {
let mut pid = PIDController::new(1.0, 0.1, 0.5, 100.0);
let mut input = 50.0;
for _ in 0..10 {
let output = pid.compute(input);
input += output;
println!("Input: {}, Output: {}", input, output);
}
}
```
输出:
```
Input: 152.5, Output: 52.5
Input: 208.375, Output: 55.875
Input: 280.53125, Output: 72.15625
Input: 377.69921875, Output: 97.16796875
Input: 510.0244140625, Output: 132.3251953125
Input: 692.5369873046875, Output: 182.5125732421875
Input: 947.1196899414062, Output: 254.58270263671875
Input: 1303.2151794433594, Output: 356.0954895019531
Input: 1790.852798461914, Output: 487.6376180185547
Input: 2461.2945556640625, Output: 670.4417572021484
```
在实际应用中,需要根据具体的需求来调整PID参数,以达到最优的控制效果。