72 lines
2.7 KiB
C
72 lines
2.7 KiB
C
/******************** (C) COPYRIGHT 2023 GeekRebot *****************************
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* File Name : pid.c
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* Current Version : V1.0 & ST 3.5.0
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* Author : zhanli 719901725@qq.com
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* Date of Issued : 2023.04.06 zhanli: Create
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* Comments : GeekRebot的电机PID控制部分
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********************************************************************************/
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#include "pid.h"
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/* 增量式pid,定义PID相关宏,这三个参数设定对电机运行影响非常大 */
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float Proportion = 0.6; // 比例常数 Proportional Const
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float Integral = 0.1; // 积分常数 Integral Const
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float Derivative = 0; // 微分常数 Derivative Const
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//显示pid参数到OLED上
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void showPID(void)
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{
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float temp1,temp2,temp3;
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char PID_P[3],PID_I[3],PID_D[3];
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temp1 = Proportion;
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sprintf(PID_P,"%1.1f",temp1);
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OLED_ShowString(16,4, (u8*)PID_P,16);
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temp2 = Integral;
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sprintf(PID_I,"%1.1f",temp2);
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OLED_ShowString(56,4, (u8*)PID_I,16);
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temp3 = Derivative;
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sprintf(PID_D,"%1.1f",temp3);
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OLED_ShowString(104,4, (u8*)PID_D,16);
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}
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/********************增量式PID控制设计************************************/
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//NextPoint当前输出值
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//SetPoint设定值
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//左轮PID
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int PID_Calc_Left(int NextPoint,int SetPoint)
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{
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static int LastError; // Error[-1]
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static int PrevError; // Error[-2]
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int iError,Outpid; // 当前误差
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iError=SetPoint-NextPoint; // 增量计算
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Outpid=(Proportion * iError) // E[k]项
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-(Integral * LastError) // E[k-1]项
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+(Derivative * PrevError); // E[k-2]项
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PrevError=LastError; // 存储误差，用于下次计算
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LastError=iError;
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return(Outpid); // 返回增量值
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}
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//右轮PID
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int PID_Calc_Right(int NextPoint,int SetPoint)
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{
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static int LastError; // Error[-1]
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static int PrevError; // Error[-2]
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int iError,Outpid; // 当前误差
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iError = SetPoint-NextPoint; // 增量计算
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Outpid = (Proportion * iError) // E[k]项
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-(Integral * LastError) // E[k-1]项
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+(Derivative * PrevError); // E[k-2]项
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PrevError=LastError; // 存储误差，用于下次计算
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LastError=iError;
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return(Outpid); // 返回增量值
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}
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