PID
来自Jack's Lab
1 Overview
typedef struct {
float Kp; // 比例系数
float Ki; // 积分系数
float Kd; // 微分系数
float integral; // 积分项
float prev_error; // 上次误差
float setpoint; // 目标电流
} PID_Controller;
float PID_Calculate(PID_Controller *pid, float actual)
{
float error = pid->setpoint - actual;
// 比例项
float p_out = pid->Kp * error;
// 积分项（防饱和）
pid->integral += error;
if(pid->integral > 1000) pid->integral = 1000;
if(pid->integral < -1000) pid->integral = -1000;
float i_out = pid->Ki * pid->integral;
// 微分项
float d_out = pid->Kd * (error - pid->prev_error);
pid->prev_error = error;
// 输出
float output = p_out + i_out + d_out;
// 限幅
if(output > 0.95) output = 0.95;
if(output < 0.05) output = 0.05;
return output;
}
2 Reference
