C语言实现PID算法.doc

C语言实现PID算法#include stdio.h 　　struct?_pid?{　　?int?pv;?/*integer?that?contains?the?process?value*/　　?int?sp;?/*integer?that?contains?the?set?point*/　　?float?integral;　　?float?pgain;　　?float?igain;　　?float?dgain;　　?int?deadband;　　?int?last_error;　　};　　　　struct?_pid?warm,*pid;　　int?process_point,?set_point,dead_band;?　　float?p_gain,?i_gain,?d_gain,?integral_val,new_integ;;?　　　　　　　　/*------------------------------------------------------------------------?　　pid_init?　　　　DESCRIPTION?This?function?initializes?the?pointers?in?the?_pid?structure?　　to?the?process?variable?and?the?setpoint.?*pv?and?*sp?are?　　integer?pointers.?　　------------------------------------------------------------------------*/?　　void?pid_init(struct?_pid?*warm,?int?process_point,?int?set_point)　　{?　　?struct?_pid?*pid;?　　?　　?pid?=?warm;?　　?pid-pv?=?process_point;?　　?pid-sp?=?set_point;?　　}?　　　　　　/*------------------------------------------------------------------------?　　pid_tune?　　　　DESCRIPTION?Sets?the?proportional?gain?(p_gain),?integral?gain?(i_gain),?　　derivitive?gain?(d_gain),?and?the?dead?band?(dead_band)?of?　　a?pid?control?structure?_pid.?　　------------------------------------------------------------------------*/?　　　　void?pid_tune(struct?_pid?*pid,?float?p_gain,?float?i_gain,?float?d_gain,?int?dead_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?　　　　DESCRIPTION?Set?a?new?value?for?the?integral?term?of?the?pid?equation.?　　This?is?useful?for?setting?the?initial?output?of?the?　　pid?controller?at?start?up.?　　------------------------------------------------------------------------*/?　　void?pid_setinteg(struct?_pid?*pid,float?new_integ)　　{?　　?pid-integral?=?new_integ;?　　?pid-last_error?=?0;?　　}?　　　　/*-----------------------------