PID算法程序C语言编写

#include "PID.h"

typedef struct _pid {

signed long vi_Ref;  //PID 设定值

signed long vi_FeedBack; //PID 测量值

signed long vi_PreError; // e(k-1)

signed long vi_PreDerrror; // e(k-1)-e(k-2)

int v_Kp;  //比例系数

int V_Ki;  //积分常数

sPID.vi_FeedBack = 0 ; //测量值，相减可得 e(k)



sPID.vi_PreError = 0 ; //e(k-1)

sPID.vi_PreDerror = 0 ; //e(k-1)-e(k-2)

sPID.v_Kp = VV_KPVALUE;

sPID.v_Ki = VV_KIVALUE;

sPID.v_Kd = VV_KDVALUE;

  



sPID.vl_PreU = 0;

d_error = error - pp->vi_PreError;       //求 e(k)-e(k-1)

dd_error = d_error - pp->vi_PreDerror;     //求{e(k)-e(k-1)}-{e(k-1)-e(k-2)}

  

pp->vi_PreError = error;      //保存当前 e(k) 

pp->vi_PreDerror = d_error;     //保存这次的 e(k)-e(k-1)

/*-------if(error < VV_DEADLINE && error >0 )pp->vl_PreU+=6;

else if(error > -VV_DEADLINE)pp->vl_PreU-=6;

else  