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PID算法调节C51程序(3)

时间:11-23 来源:互联网 点击:
#include

#include
  
  struct _pid {
   int pv;
   int sp;
   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;;
  
  
  
  
  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;
  }
  
  
  
  
  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;
  }
  
  
  void pid_setinteg(struct _pid *pid,float new_integ)
  {
   pid->integral = new_integ;
   pid->last_error = 0;
  }
  
  
  void pid_bumpless(struct _pid *pid)
  {
  
   pid->last_error = (pid->sp)-(pid->pv);
  
  }
  
  
  
  
  float pid_calc(struct _pid *pid)
  {
   int err;
   float pterm, dterm, result, ferror;
  
   err = (pid->sp) - (pid->pv);
   if (abs(err) > pid->deadband)
   {
   ferror = (float) err;
   pterm = pid->pgain * ferror;
   if (pterm > 100 || pterm < -100)
   {
   pid->integral = 0.0;
   }
   else
   {
   pid->integral += pid->igain * ferror;
   if (pid->integral > 100.0)
   {
   pid->integral = 100.0;
   }
   else if (pid->integral < 0.0) pid->integral = 0.0;
   }
   dterm = ((float)(err - pid->last_error)) * pid->dgain;
   result = pterm + pid->integral + dterm;
   }
   else result = pid->integral;
   pid->last_error = err;
   return (result);
  }
  
  
  void main(void)
  {
   float display_value;
   int count=0;
  
   pid = &warm;
  
  // printf("Enter the values of Process point, Set point, P gain, I gain, D gain ");
  // scanf("%d%d%f%f%f", &process_point, &set_point, &p_gain, &i_gain, &d_gain);
  
  
  
   process_point = 30;
   set_point = 40;
   p_gain = (float)(5.2);
   i_gain = (float)(0.77);
   d_gain = (float)(0.18);
  
  
  
   dead_band = 2;
   integral_val =(float)(0.01);
  
  
   printf("The values of Process point, Set point, P gain, I gain, D gain ");
   printf(" %6d %6d %4f %4f %4f", process_point, set_point, p_gain, i_gain, d_gain);
  
   printf("Enter the values of Process point");
  
   while(count<=20)
   {
  
  
  
   scanf("%d",&process_point);
  
   pid_init(&warm, process_point, set_point);
   pid_tune(&warm, p_gain,i_gain,d_gain,dead_band);
   pid_setinteg(&warm,0.0); //pid_setinteg(&warm,30.0);
  
   //Get input value for process point
   pid_bumpless(&warm);
  
   // how to display output
   display_value = pid_calc(&warm);
   printf("%f", display_value);
   //printf("%f%f%f%f",warm.pv,warm.sp,warm.igain,warm.dgain);
   count++;
  
   }
  
  }

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