├── README.md
├── pid.c
└── pid.h


/README.md:
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1 | Incremental PID Control
2 | =============================
3 | 增量式PID算法C语言实现</br>
4 | C implementation of Incremental PID Control
5 | 


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/pid.c:
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 1 | #include "pid.h"
 2 | #include <math.h>
 3 | 
 4 | #define MAXOUT 1000                 //输出最大值
 5 | 
 6 | PID sPID;
 7 | static pPID sptr;
 8 | 
 9 | void IncPIDInit(void)
10 | {
11 |     sptr                = &sPID;
12 |     sptr->SetPoint      = 700;      //设定值
13 |     sptr->BitMove       = 0u;       //返回结果比例
14 | 
15 |     sptr->LastError     = 0u;       //前2次误差值
16 |     sptr->PrevError     = 0u;       //前1次误差值
17 | 
18 |     sptr->Proportion    = 3.0f;     //比例
19 |     sptr->Integral      = 0.0f;     //积分
20 |     sptr->Derivative    = 0.0f;     //微分
21 | 
22 |     sptr->iError        = 0;        //当前误差
23 |     sptr->iIncpid       = 0;        //增量误差
24 | 
25 |     sptr->Uk            = 0;        //输出返回值
26 | }
27 | 
28 | int IncPIDCalc(int NextPoint)
29 | {
30 |     //当前误差
31 |     sptr->iError = sptr->SetPoint - NextPoint;
32 |     //增量误差
33 |     sptr->iIncpid = sptr->Proportion * sptr->iError - sptr->Integral * sptr->LastError
34 |                     + sptr->Derivative * sptr->PrevError;
35 |     //存储误差，用于下次计算
36 |     sptr->PrevError = sptr->iError;
37 |     sptr->LastError = sptr->LastError;
38 | 
39 |     sptr->Uk += sptr->iIncpid;
40 | 
41 |     //输出值限幅
42 |     if (sptr->Uk>>sptr->BitMove >= MAXOUT)
43 |     {
44 |         sptr->Uk = MAXOUT;
45 |     }
46 |     else if(sptr->Uk>>sptr->BitMove <= 0u)
47 |     {
48 |         sptr->Uk = 0;
49 |     }
50 |     else sptr->Uk = sptr->Uk>>sptr->BitMove;
51 | 
52 |     return (sptr->Uk);
53 | }
54 | 


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/pid.h:
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 1 | #ifndef __PID_H
 2 | #define __PID_H
 3 | 
 4 | typedef struct PID
 5 | {
 6 |     int SetPoint;
 7 | 
 8 |     unsigned char BitMove;
 9 | 
10 |     float Proportion;
11 |     float Integral;
12 |     float Derivative;
13 | 
14 |     int iError;
15 |     int iIncpid;
16 | 
17 |     int LastError;
18 |     int PrevError;
19 | 
20 |     int Uk;
21 | } PID, *pPID;
22 | 
23 | extern PID sPID;
24 | 
25 | void IncPIDInit(void);
26 | int IncPIDCalc(int NextPoint);
27 | 
28 | #endif
29 | 


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