├── LICENSE ├── PID文档 ├── PID参数调整经验 │ ├── PID参数调节.pdf │ ├── PID的参数整定.pdf │ ├── PS：出现震荡的意思是指波形曲线有收敛的上下波动，并不是系统不稳定的震荡！.txt │ └── 关于PID.pdf └── PID算法及其常用变种原理 │ ├── PID基础入门-控制算法的C语言实现.(绝对的好东西)----.pdf │ ├── PID基础进阶-新型PID控制及其应用.pdf │ ├── PID算法演示程序.exe │ └── 由入门到精通吃透PID.pdf ├── README.md └── pid_realize ├── .vscode ├── launch.json └── tasks.json ├── pid.c ├── pid.h └── test.c /LICENSE: -------------------------------------------------------------------------------- 1 | GNU AFFERO GENERAL PUBLIC LICENSE 2 | Version 3, 19 November 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU Affero General Public License is a free, copyleft license for 11 | software and other kinds of works, specifically designed to ensure 12 | cooperation with the community in the case of network server software. 13 | 14 | The licenses for most software and other practical works are designed 15 | to take away your freedom to share and change the works. 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If not, see . 647 | 648 | Also add information on how to contact you by electronic and paper mail. 649 | 650 | If your software can interact with users remotely through a computer 651 | network, you should also make sure that it provides a way for users to 652 | get its source. For example, if your program is a web application, its 653 | interface could display a "Source" link that leads users to an archive 654 | of the code. There are many ways you could offer source, and different 655 | solutions will be better for different programs; see section 13 for the 656 | specific requirements. 657 | 658 | You should also get your employer (if you work as a programmer) or school, 659 | if any, to sign a "copyright disclaimer" for the program, if necessary. 660 | For more information on this, and how to apply and follow the GNU AGPL, see 661 | . 662 | -------------------------------------------------------------------------------- /PID文档/PID参数调整经验/PID参数调节.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Staok/pid_realize/5ee3262ce7b83156af0448bac7b5648677edefc4/PID文档/PID参数调整经验/PID参数调节.pdf -------------------------------------------------------------------------------- /PID文档/PID参数调整经验/PID的参数整定.pdf: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/Staok/pid_realize/5ee3262ce7b83156af0448bac7b5648677edefc4/PID文档/PID算法及其常用变种原理/PID基础入门-控制算法的C语言实现.(绝对的好东西)----.pdf -------------------------------------------------------------------------------- /PID文档/PID算法及其常用变种原理/PID基础进阶-新型PID控制及其应用.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Staok/pid_realize/5ee3262ce7b83156af0448bac7b5648677edefc4/PID文档/PID算法及其常用变种原理/PID基础进阶-新型PID控制及其应用.pdf -------------------------------------------------------------------------------- /PID文档/PID算法及其常用变种原理/PID算法演示程序.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Staok/pid_realize/5ee3262ce7b83156af0448bac7b5648677edefc4/PID文档/PID算法及其常用变种原理/PID算法演示程序.exe -------------------------------------------------------------------------------- /PID文档/PID算法及其常用变种原理/由入门到精通吃透PID.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Staok/pid_realize/5ee3262ce7b83156af0448bac7b5648677edefc4/PID文档/PID算法及其常用变种原理/由入门到精通吃透PID.pdf -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | 实现PID的几种算法：积分分离，变限积分，和可选择的不完全微分、微分先行。 2 | PID计算过程均使用归一化后的数据，PID三个参数必须均在0~1之间。 3 | 通过pid.h里面的宏定义选择具体用那种算法实现。 -------------------------------------------------------------------------------- /pid_realize/.vscode/launch.json: -------------------------------------------------------------------------------- 1 | { 2 | // 使用 IntelliSense 了解相关属性。 3 | // 悬停以查看现有属性的描述。 4 | // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 5 | "version": "0.2.0", 6 | "configurations": [ 7 | { 8 | "name": "Run C/C++", 9 | "type": "cppdbg", 10 | "request": "launch", 11 | "program": "${fileDirname}\\${fileBasenameNoExtension}.exe", 12 | "args": [], 13 | "stopAtEntry": false, 14 | "cwd": "${workspaceFolder}", 15 | "environment": [], 16 | "externalConsole": true, 17 | "MIMode": "gdb", 18 | "miDebuggerPath": "C:\\softtools\\mingw64\\bin\\gdb.exe", 19 | "setupCommands": [ 20 | { 21 | "description": "为 gdb 启用整齐打印", 22 | "text": "-enable-pretty-printing", 23 | "ignoreFailures": true 24 | } 25 | ], 26 | "preLaunchTask": "build & run file" 27 | }, 28 | { 29 | "name": "Debug C/C++", 30 | "type": "cppdbg", 31 | "request": "launch", 32 | "program": "${workspaceFolder}/${fileBasenameNoExtension}.exe", 33 | "args": [], 34 | "stopAtEntry": false, 35 | "cwd": "${workspaceFolder}", 36 | "environment": [], 37 | "externalConsole": true, 38 | "MIMode": "gdb", 39 | "miDebuggerPath": "C:\\softtools\\mingw64\\bin\\gdb.exe", 40 | "setupCommands": [ 41 | { 42 | "description": "Enable pretty-printing for gdb", 43 | "text": "-enable-pretty-printing", 44 | "ignoreFailures": false 45 | } 46 | ], 47 | "preLaunchTask": "build & debug file" 48 | } 49 | ] 50 | } -------------------------------------------------------------------------------- /pid_realize/.vscode/tasks.json: -------------------------------------------------------------------------------- 1 | { 2 | "version": "2.0.0", 3 | "tasks": [ 4 | { 5 | "label": "build & debug file", 6 | "type": "shell", 7 | "command": "g++", 8 | "args": [ 9 | "-g", 10 | "-o", 11 | "${fileBasenameNoExtension}", 12 | "${file}" 13 | ], 14 | "group": { 15 | "kind": "build", 16 | "isDefault": true 17 | } 18 | }, 19 | { 20 | "label": "build & run file", 21 | "type": "shell", 22 | "command": "g++", 23 | "args": [ 24 | "-o", 25 | "${fileBasenameNoExtension}", 26 | "${file}" 27 | ], 28 | "group": { 29 | "kind": "build", 30 | "isDefault": true 31 | } 32 | } 33 | ] 34 | } -------------------------------------------------------------------------------- /pid_realize/pid.c: -------------------------------------------------------------------------------- 1 | #include "pid.h" 2 | 3 | 4 | /*定义用户参数，一个器件定义一套PID参数，并初始化参数！*/ 5 | pid_realize pid[pidDeviceNum] = 6 | { 7 | { 8 | { /*Moto1参数初始化*/ 9 | 0.0, /* SetSpeed，定义设定值：MaxSpeed ~ MinSpeed*/ 10 | 0.0, /* ActualSpeed,定义实际值：MaxSpeed ~ MinSpeed*/ 11 | 12 | /*用户改此处*/ 13 | 300.0, /* MaxSpeed,MinSpeed,定义最大、最小速度，用于归一化：执行器接受的最小值~执行器接受的最大值*/ 14 | -300.0, /* 最大、小速度一般都关于0对称，MaxSpeed必须大于0，MinSpeed必须小于0*/ 15 | /*用户改此处*/ 16 | 0.7, /* Kp,Ki,Kd,定义比例、积分、微分系数：0~1.0*/ 17 | 0.2, 18 | 0.05, 19 | /*用户改此处*/ 20 | 0.5, /* isoKi_Max,积分分离的上限：0~1.0*/ 21 | 0.2, /* isoKi_Min,积分分离的下限：0~1.0*/ 22 | 23 | 0.0, /* output,定义计算结果，执行器的输入：-1.0~1.0*/ 24 | 0.0, /* err,定义偏差值*/ 25 | 0.0, /* err_last,定义上一个偏差值*/ 26 | 0.0 /* integral,定义积分值*/ 27 | }, Moto1PID_Realize 28 | }, 29 | { 30 | { /*Moto2参数初始化*/ 31 | 0.0 /*这里没用到，省略*/ 32 | }, Moto2PID_Realize 33 | } 34 | }; 35 | 36 | 37 | /*定义用户PID计算函数，一个器件定义一个PID计算函数*/ 38 | float Moto1PID_Realize(pid_struct* pid) 39 | { 40 | float index; //定义积分项系数：0~1.0 41 | float setSpeed,realSpeed; /*记录归一化之后的设定值和实际值*/ 42 | float absErr; /*记录误差的绝对值*/ 43 | 44 | static float Ud,Ud_last,realSpeed_last;/*微分先行相关的参数*/ 45 | const float Td = pid->Kd / pid->Kp; 46 | const float Ts = 1.0,gama = 0.1; 47 | float temp,c1,c2,c3; 48 | 49 | /*检查是否超范围*/ 50 | if(pid->SetSpeed > pid->MaxSpeed){pid->SetSpeed = pid->MaxSpeed;} 51 | if(pid->SetSpeed < pid->MinSpeed){pid->SetSpeed = pid->MinSpeed;} 52 | //if(pid->ActualSpeed > pid->MaxSpeed){pid->ActualSpeed = pid->MaxSpeed;} 注释掉！ 53 | //if(pid->ActualSpeed < pid->MinSpeed){pid->ActualSpeed = pid->MinSpeed;} 54 | 55 | /*设置速度归一化，都归到 -1.0~1.0 */ 56 | if(pid->SetSpeed >= 0){setSpeed = pid->SetSpeed / pid->MaxSpeed;} 57 | else{setSpeed = (-pid->SetSpeed) / pid->MinSpeed;} 58 | /*实际速度归一化后可以 >1或者<-1*/ 59 | if(pid->ActualSpeed >= 0){realSpeed = pid->ActualSpeed / pid->MaxSpeed;} 60 | else{realSpeed = (-pid->ActualSpeed) / pid->MinSpeed;} 61 | 62 | /*计算误差*/ 63 | pid->err=setSpeed-realSpeed; 64 | /*抗积分饱和过程*/ 65 | if(pid->ActualSpeed > (pid->MaxSpeed * 0.7)) /*这个时候积分项只进行负误差的累加*/ 66 | { 67 | /*变积分过程*/ 68 | if(pid->err >= 0) absErr = pid->err; else absErr = -pid->err; /*取绝对值*/ 69 | if(absErr > pid->isoKi_Max) 70 | { 71 | index = 0.0; /*大误差时，不使用积分项*/ 72 | }else if(absErr < pid->isoKi_Min){ 73 | index = 1.0; /*误差小于积分分离下限时，使用完全积分项*/ 74 | if(pid->err < 0) pid->integral += pid->err; /*只进行负误差的累加*/ 75 | }else{ /*误差介于积分分离的上下限之间，使用变积分*/ 76 | index = (pid->isoKi_Max - absErr) / (pid->isoKi_Max - pid->isoKi_Min); 77 | if(pid->err < 0) pid->integral += pid->err; /*只进行负误差的累加*/ 78 | } 79 | }else if(pid->ActualSpeed < (pid->MinSpeed * 0.7)) /*这个时候积分项只进行正误差的累加*/ 80 | { 81 | if(pid->err >= 0) absErr = pid->err; else absErr = -pid->err; 82 | if(absErr > pid->isoKi_Max) 83 | { 84 | index = 0.0; 85 | }else if(absErr < pid->isoKi_Min){ 86 | index = 1.0; 87 | if(pid->err > 0) pid->integral += pid->err; /*只进行正误差的累加*/ 88 | }else{ 89 | index = (pid->isoKi_Max - absErr) / (pid->isoKi_Max - pid->isoKi_Min); 90 | if(pid->err > 0) pid->integral += pid->err; /*只进行正误差的累加*/ 91 | } 92 | }else 93 | { 94 | if(pid->err >= 0) absErr = pid->err; else absErr = -pid->err; 95 | if(absErr > pid->isoKi_Max) 96 | { 97 | index = 0.0; 98 | }else if(absErr < pid->isoKi_Min){ 99 | index = 1.0; 100 | pid->integral += pid->err; 101 | }else{ 102 | index = (pid->isoKi_Max - absErr) / (pid->isoKi_Max - pid->isoKi_Min); 103 | pid->integral += pid->err; 104 | } 105 | } 106 | 107 | /*计算PID*/ 108 | #if UseSpecialDifferentiation 109 | #if !UseIncompleteDifferentiationOrUseDifferentialPreceding 110 | /*使用不完全微分，即微分项加一个一阶滤波：降低微分项的高频震荡对输出的影响*/ 111 | pid->output = pid->Kp * pid->err + index * pid->Ki * pid->integral + FirstOrderLPF(pid->Kd * (pid->err - pid->err_last)); 112 | #else 113 | /*使用微分先行：适合于给定指令频繁升降的场合，避免震荡，改善动态性能*/ 114 | /*借鉴 https://wenku.baidu.com/view/c1f88556f01dc281e53af02c.html 程序写的基本对 吧~*/ 115 | temp = gama * Td + Ts; c3 = Td / temp; c2 = (Td + Ts) / temp; c1 = gama * c3; 116 | Ud = c1 * Ud_last + c2 * realSpeed - c3 * realSpeed_last; 117 | pid->output = pid->Kp * pid->err + index * pid->Ki * pid->integral + Ud; 118 | Ud_last = Ud; realSpeed_last = realSpeed; 119 | #endif 120 | 121 | #else 122 | pid->output = pid->Kp * pid->err + index * pid->Ki * pid->integral + pid->Kd * (pid->err - pid->err_last); 123 | #endif 124 | 125 | pid->err_last = pid->err; 126 | 127 | /*防超范围*/ 128 | if(pid->output > 1) {pid->output = 1.0;} 129 | if(pid->output < -1) {pid->output = -1.0;} 130 | 131 | /*返回一个 .MaxSpeed ~ .MinSpeed之间的数*/ 132 | if(pid->output >= 0){return pid->output * pid->MaxSpeed;}else{return pid->output * (-pid->MinSpeed);} 133 | } 134 | 135 | /*Moto2PID_Realize函数的实现略*/ 136 | float Moto2PID_Realize(pid_struct* pid) 137 | { 138 | ; 139 | return 0; 140 | } 141 | 142 | /*调用PID计算函数*/ 143 | //output = (pid[Moto1PID].pid_realize)(&(pid[Moto1PID].pid_para)); 144 | 145 | /*一阶低通滤波器：本次滤波结果=(1-a)*本次采样值+a*上次滤波结果，a越大滤波程度越高，a必须在0~1之间*/ 146 | /*a与一阶低通的时间常数T关系：a = T/(T+1),T越大滤波程度越高*/ 147 | #define LPF_A 0.69 148 | float FirstOrderLPF(float NewValue) 149 | { 150 | static float LastValue,output; 151 | output = (1.0 - LPF_A) * NewValue + LPF_A * LastValue; 152 | LastValue = NewValue; 153 | return output; 154 | } 155 | 156 | 157 | 158 | -------------------------------------------------------------------------------- /pid_realize/pid.h: -------------------------------------------------------------------------------- 1 | #ifndef _PID_H 2 | #define _PID_H 3 | 4 | /*功课： 5 | 1.比例环节 Kp，作用是加快系统的响应速度，提高系统的调节精度，副作用是会导致超调; 6 | 2.积分环节 Ki，作用是消除稳态误差，副作用是导致积分饱和现象; 7 | 3.微分环节 Kd，作用是改善系统的动态性能，副作用是延长系统的调节时间。 8 | 9 | 规范： 10 | 1.计算过程全部用归一化的数值，负值代表反转，正值代表正转 11 | 2.设定速度变量“.SetSpeed”和PID三个参数全局可变； 12 | 3.获取的实际速度“.ActualSpeed”在定时器中断中实时获取 13 | 4.PID计算函数在定时器中断中紧接着获取完速度后调用，计算PID结果后立马执行结果 14 | */ 15 | 16 | /*一阶低通滤波器*/ 17 | float FirstOrderLPF(float NewValue); 18 | /*实现基本：抗积分饱和 + 变积分 + 不完全微分 + 微分先行 的PID*/ 19 | typedef struct 20 | { 21 | float SetSpeed; //定义设定值：MaxSpeed ~ MinSpeed 22 | float ActualSpeed; //定义实际值：MaxSpeed ~ MinSpeed 23 | float MaxSpeed,MinSpeed;//定义最大、最小速度，用于归一化：执行器接受的最小值~执行器接受的最大值 24 | //最大、小速度一般都关于0对称，MaxSpeed必须大于0，MinSpeed必须小于0 25 | float Kp,Ki,Kd; //定义比例、积分、微分系数：0~1.0 26 | float isoKi_Max; //定义积分分离的上限 27 | float isoKi_Min; //定义积分分离的下限 28 | float output; //定义计算结果，执行器的输入：-1.0~1.0 29 | float err; //定义偏差值 30 | float err_last; //定义上一个偏差值 31 | float integral; //定义积分值 32 | }pid_struct; 33 | 34 | typedef struct 35 | { 36 | pid_struct pid_para; 37 | float (*pid_realize)(pid_struct* pid); 38 | }pid_realize; //定义成一套的PID参数和计算函数 39 | 40 | /*-----------以上不用改----------------以下用户改-------------------*/ 41 | 42 | /*如果不使用“不完全微分”或者“微分先行”，选择0，否则选择1*/ 43 | #define UseSpecialDifferentiation 1 44 | /*是否使用不完全微分：降低微分项的高频震荡对输出的影响*/ 45 | /*是否使用微分先行：适合于给定指令频繁升降的场合，避免震荡，改善动态性能*/ 46 | /*选择0使用前者，选择1使用后者，亲 这边的推荐是后者呦~*/ 47 | #define UseIncompleteDifferentiationOrUseDifferentialPreceding 1 48 | 49 | /*定义用到pid的器件的数量，每一套pid_realize参数都必须初始化！*/ 50 | #define pidDeviceNum 2 51 | /*定义用到的pid_realize，用几套写几套，从0开始往下列，必须！*/ 52 | #define Moto1PID 0 53 | #define Moto2PID 1 54 | 55 | /*定义用户参数，一个器件定义一套PID参数*/ 56 | extern pid_realize pid[pidDeviceNum]; 57 | 58 | /*定义用户PID计算函数，一个器件定义一个PID计算函数*/ 59 | float Moto1PID_Realize(pid_struct* pid); /*PID计算函数*/ 60 | float Moto2PID_Realize(pid_struct* pid); 61 | 62 | 63 | #endif 64 | 65 | -------------------------------------------------------------------------------- /pid_realize/test.c: -------------------------------------------------------------------------------- 1 | /*用VS code调程序文件路径不能有中文*/ 2 | 3 | #include 4 | #include 5 | #include 6 | #include "pid.h" 7 | #include "pid.c" 8 | 9 | 10 | #define random(x) (rand()%x) 11 | 12 | int main() 13 | { 14 | int i; 15 | char a[2][10] = {"start!","end!"}; 16 | float randrmValue,temp; 17 | srand((int)time(0)); 18 | printf("%s\n",a[0]); 19 | 20 | pid[Moto1PID].pid_para.SetSpeed = 280.886; 21 | for(i = 0;i < 200;i++) 22 | { 23 | temp = (pid[Moto1PID].pid_realize)(&(pid[Moto1PID].pid_para)); 24 | pid[Moto1PID].pid_para.ActualSpeed = temp; 25 | printf("%.3f\t",temp); 26 | } 27 | 28 | 29 | printf("%s\n",a[1]); 30 | return 0; 31 | } --------------------------------------------------------------------------------