增量式PID-简单C语言程序实现（源码）

PID结构体

typedef struct 
{
	float P;
	float P_OUT;
	
	float I;
	float I_OUT;
	float I_LIMIT;
	
	float D;
	float D_OUT;
	
	float OUT;
	float OUT_LIMIT;
	
	float err;
	float err_err;
	float err_old;
	
}PID_TypeDef;

PID参数初始化

void PID_Init(void)
{
	/**转速PID*/
	motor.PID_SPEED[MOTOR1].P = 7.0f;
	motor.PID_SPEED[MOTOR1].I = 0.1f;
	motor.PID_SPEED[MOTOR1].D = 0.0f;
	
	motor.PID_SPEED[MOTOR1].I_LIMIT = 1000;
	motor.PID_SPEED[MOTOR1].OUT_LIMIT = 5000;
}

PID主函数

float PID_Cal(PID_TypeDef *PID, float get, float set)
{
	PID->err = set - get;
	PID->err_err = PID->err - PID->err_old;
	
	PID->P_OUT  = PID->P * PID->err;
	PID->I_OUT += PID->I * PID->err;
	PID->D_OUT  = PID->D * PID->err_err;
	
	PID->I_OUT = (PID->I_OUT > PID->I_LIMIT)?(PID->I_LIMIT):((PID->I_OUT < -PID->I_LIMIT)?(-PID->I_LIMIT):(PID->I_OUT));
	
	PID->OUT = PID->P_OUT + PID->I_OUT + PID->D_OUT;
	
	PID->OUT = (PID->OUT > PID->OUT_LIMIT)?(PID->OUT_LIMIT):((PID->OUT < -PID->OUT_LIMIT)?(-PID->OUT_LIMIT):(PID->OUT));
	
	
	PID->err_old = PID->err;
	
	return PID->OUT;
}

很简单的PID函数