用c++写一个pid算法
时间: 2024-05-06 17:20:34 浏览: 7
这里提供一种简单的PID算法的C语言实现,其中Kp、Ki和Kd是PID控制器的增益系数,error、integral和derivative分别表示误差、积分和微分的值。
```
#include <stdio.h>
float pid(float setpoint, float input, float Kp, float Ki, float Kd, float *error, float *integral, float *derivative) {
float output;
float last_error = *error;
*error = setpoint - input;
*integral += *error;
*derivative = *error - last_error;
output = Kp * (*error) + Ki * (*integral) + Kd * (*derivative);
return output;
}
int main() {
float setpoint = 50.0;
float input = 40.0;
float Kp = 0.5;
float Ki = 0.2;
float Kd = 0.1;
float error = 0.0;
float integral = 0.0;
float derivative = 0.0;
float output = pid(setpoint, input, Kp, Ki, Kd, &error, &integral, &derivative);
printf("Output: %f\n", output);
return 0;
}
```