增量式pid的算法程序1[1]

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1、#include　　#include　　　　struct_pid{　　intpv;/*integerthatcontainstheprocessvalue*/　　intsp;/*integerthatcontainsthesetpoint*/　　floatintegral;　　floatpgain;　　floatigain;　　floatdgain;　　intdeadband;　　intlast_error;　　};　　　　struct_pidwarm,*pid;　　intprocess_point,set_point,dead_ban

2、d;　　floatp_gain,i_gain,d_gain,integral_val,new_integ;;　　　　　　　　/*------------------------------------------------------------------------　　pid_init　　　　DESCRIPTIONThisfunctioninitializesthepointersinthe_pidstructure　　totheprocessvariableandthesetpoint.*pvand*spare　　integerpointers.　　------

3、------------------------------------------------------------------*/　　voidpid_init(struct_pid*warm,intprocess_point,intset_point)　　{　　struct_pid*pid;　　　　pid=warm;　　pid->pv=process_point;　　pid->sp=set_point;　　}　　　　　　/*-----------------------------------------------------------------------

4、-　　pid_tune　　　　DESCRIPTIONSetstheproportionalgain(p_gain),integralgain(i_gain),　　derivitivegain(d_gain),andthedeadband(dead_band)of　　apidcontrolstructure_pid.　　------------------------------------------------------------------------*/　　　　voidpid_tune(struct_pid*pid,floatp_gain,floati_gai

5、n,floatd_gain,intdead_band)　　{　　pid->pgain=p_gain;　　pid->igain=i_gain;　　pid->dgain=d_gain;　　pid->deadband=dead_band;　　pid->integral=integral_val;　　pid->last_error=0;　　}　　　　/*------------------------------------------------------------------------　　pid_setinteg　　　　DESCRIPTIONSetanewvaluef

6、ortheintegraltermofthepidequation.　　Thisisusefulforsettingtheinitialoutputofthe　　pidcontrolleratstartup.　　------------------------------------------------------------------------*/　　voidpid_setinteg(struct_pid*pid,floatnew_integ)　　{　　pid->integral=new_integ;　　pid->last_error=0;　　}　　　　/*-

7、-----------------------------------------------------------------------　　pid_bumpless　　　　DESCRIPTIONBumplesstransferalgorithim.Whensuddenlychanging　　setpoints,orwhenrestartingthePIDequationafteran　　extendedpause,thederivativeoftheequationcancause　　abumpinthecontrolleroutp