單片機(jī)應(yīng)用開發(fā)典型模塊程序及原理圖-pcb站-各章第六章

PID#include"math.h"structPID_Data{{float //輸入命令float //實際測量float //實際控制器輸出float //控制器輸出的一個比較{float float //積分器輸floatD; floatyold; float {float //float //積分時間float //微分時間float float //控制器輸出最小float //控制器輸出最大float //采樣周float //中間變//PIDvoidPID_Init(structPID_Data*{data->States.I=data->States.D=data->States.yold=data->Par.K=data->Par.Ti=data->Par.Td=data->Par.N=data->Par.ulow=-data->Par.uhigh=data->Par.T=data->Par.Ki(data->Par.K)*(data->Par.T)(data->Par.Ti);Kidata->Par.bd=(data->Par.K)*(data->Par.N)*(data->Par.Td)/(data->Par.Td+data->Par.N*data-data->Par.ad=data->Par.Td/(data->Par.Td+data->Par.N*data-}voidPID_CalculateOutput(structPID_Data*{data->States.P=data->Par.K*(data->Signals.uc-data-data->States.D=data->Par.ad*data-data->Par.bd*(data->Signals.y-data-data->States.I=data->States.I+data->Par.Ki*(data->Signals.uc-data-data->Signals.v=data->States.P+data->States.I+data-if(data->Signals.v<data-{data->Signals.u=data-}elseif(data->Signals.v>data-{}{}

data->Signals.u=data-data->Signals.u=data-data->States.yold=data-}void{{PID_CalculateOutput}}PIDstruct{{float //輸入命令float //實際測量{doubleu; doubledeta_u;double double double doubley_2; doubleerror;doubleerror_1;doubleerror_2;doublekp;doubleki;doublekd;{doublex1;doublex2;double//PIDvoidPID_Init(structPID_Data*{ =data->States.deta_u=data->States.u_1=data->States.u_2=data->States.y_1=data->States.y_2=data->States.kp=data->States.ki=data->States.kd=data->States.error_1=data->States.error_2=data->Par.x1=data->Par.x2=data->Par.x3=}//PIDvoidPID_CalculateOutput(structPID_Data*{intk=data->Signals.y data->States.deta_u data->States.u=data->States.u_1+data-if(data->States.u{data->States.u=}elseif(data->States.u<-{}{}

data->States.u=-data->States.u=data-data->States.error=data->Signals.uc-data-data->States.u_2=data->States.u_1;data->States.u_1=data->States.u;data->States.y_2=data->States.y_1;data->States.y_1=data->Signals.y;data->Par.x2=data->States.error-2*data->States.error_1+data->States.error_2;data->Par.x3=data->States.error;data->States.error_2=data->States.error_1;data->States.error_1=data->States.error;}PID#include"math.h"structPID_Data{{double //double //double double double {longxiteP;longxiteI;longlong long long long {int //longwkp_1;longwki_1;longwkd_1;longwkp;longwki;longwkd;voidPID_Init(structPID_Data*{}voidPID_CalculateOutput(structPID_Data*{longlonglongdata->States.error=data->Signals.uc-data-data->Signals.u_1*(2*data->States.error-data-data->Signals.u_1*(2*dat