用于C语言的PID调节器的SW？

罗尔夫
 
 
我听说你已经实现了discrite版本PID可以将编码发送到我的电子邮件ID：这对我有帮助..



以下为原文




Rolf


i heard u have implement the discrite version PID can send the coding to my email id:it will helpful for me..

罗尔夫
 
 
我听说你已经实现了discrite版本PID可以将编码发送到我的电子邮件ID：这对我有帮助..



以下为原文




Rolf


i heard u have implement the discrite version PID can send the coding to my email id:it will helpful for me..

罗尔夫
 
 
我听说你已经实现了discrite版本PID可以将编码发送到我的电子邮件ID：这对我有帮助..



以下为原文




Rolf


i heard u have implement the discrite version PID can send the coding to my email id:it will helpful for me..

[嗨gforte
 
我有一个关于实现PI控制器闭环调节的想法。我需要汇编代码来实现。我希望它将用于实现PID控制器，请将它发送到我的地址mailto：n_muthukumaran@yahoo.com



以下为原文




[hi gforte

I have an idea about to implement PI controller closed loop regulation. I need the assembly code to implement.i hope it will use to implement the PID controller please send it to my address mailto:n_muthukumaran@yahoo.com

你好，
 
 这是一个PI（D）代码：
 
s16 PID_Regulator（s16 hReference，s16 hPresentFeedback，PID_Struct_t * PID_Struct）
 
 {
 s32 wError，wProportional_Term，wIntegral_Term，houtput_32;
 s64 dwAux;
 #ifdef DIFFERENTIAL_TERM_ENABLED
 s32 wDifferential_Term;
 ＃万一
 //错误计算
 wError =（s32）（hReference - hPresentFeedback）;
 
 //比例项计算
 wProportional_Term = PID_Struct-＆gt; hKp_Gain * wError; //积分项计算
 
 if（PID_Struct-＆gt; hKi_Gain == 0）
 {
 PID_Struct-＆gt; wIntegral = 0;
 }
 其他
 {
 wIntegral_Term = PID_Struct-＆gt; hKi_Gain * wError;
 dwAux = PID_Struct-＆gt; wIntegral +（s64）（wIntegral_Term）;
 
 if（dwAux＆gt; PID_Struct-＆gt; wUpper_Limit_Integral）
 {
 PID_Struct-＆gt; wIntegral = PID_Struct-＆gt; wUpper_Limit_Integral;
 }
 否则if（dwAux＆lt; PID_Struct-＆gt; wLower_Limit_Integral）
 {
 PID_Struct-＆gt; wIntegral = PID_Struct-＆gt; wLower_Limit_Integral;
 }
 其他
 {
 PID_Struct-＆gt; wIntegral =（s32）（dwAux）;
 }
 }
 //差分项计算
 #ifdef DIFFERENTIAL_TERM_ENABLED
 {
 s32 wtemp;
 
 wtemp = wError - PID_Struct-＆gt; wPreviousError;
 wDifferential_Term = PID_Struct-＆gt; hKd_Gain * wtemp;
 PID_Struct-＆gt; wPreviousError = wError; //存储值
 }
 houtput_32 =（wProportional_Term / PID_Struct-＆gt; hKp_Divisor +
 PID_Struct-＆gt; wIntegral / PID_Struct-＆gt; hKi_Divisor +
 wDifferential_Term / PID_Struct-＆GT; hKd_Divisor）; ＃其他
 
 houtput_32 =（wProportional_Term / PID_Struct-＆gt; hKp_Divisor +
 PID_Struct-＆GT; wIntegral / PID_Struct-＆GT; hKi_Divisor）;
 ＃万一
 
 if（houtput_32＆gt; = PID_Struct-＆gt; hUpper_Limit_Output）
 {
 返回（PID_Struct-＆GT; hUpper_Limit_Output）;
 }
 否则if（houtput_32＆lt; PID_Struct-＆gt; hLower_Limit_Output）
 {
 返回（PID_Struct-＆GT; hLower_Limit_Output）;
 }
 其他
 {
 返回（（S16）（houtput_32））;
 }
 用
 
 typedef结构
 {
 s16 hKp_Gain;
 u16 hKp_Divisor;
 s16 hKi_Gain;
 u16 hKi_Divisor;
 s16 hLower_Limit_Output; //输出限制的下限
 s16 hUpper_Limit_Output; //输出限制的下限
 s32 wLower_Limit_Integral; //积分项限制的下限
 s32 wUpper_Limit_Integral; //积分项限制的下限
 s32 wIntegral;
 //实际上仅在启用了DIFFERENTIAL_TERM_ENABLED时使用
 //stm32f10x_MCconf.h
 s16 hKd_Gain;
 u16 hKd_Divisor;
 s32 wPreviousError;
 } PID_Struct_t;
 
 我让你找到更聪明的东西，以避免使用64位变量;-)
 
 再见，
 Billino



以下为原文







Hello,

here is a PI(D) code:

s16 PID_Regulator(s16 hReference, s16 hPresentFeedback, PID_Struct_t *PID_Struct)

{
   s32 wError, wProportional_Term,wIntegral_Term, houtput_32;
   s64 dwAux;  
#ifdef DIFFERENTIAL_TERM_ENABLED     
   s32 wDifferential_Term;
#endif     
   // error computation
   wError= (s32)(hReference - hPresentFeedback);
   
   // Proportional term computation
   wProportional_Term = PID_Struct->hKp_Gain * wError;  // Integral term computation

   if (PID_Struct->hKi_Gain == 0)
   {
     PID_Struct->wIntegral = 0;
   }
   else
   {  
     wIntegral_Term = PID_Struct->hKi_Gain * wError;
     dwAux = PID_Struct->wIntegral + (s64)(wIntegral_Term);
      
     if (dwAux > PID_Struct->wUpper_Limit_Integral)
     {
       PID_Struct->wIntegral = PID_Struct->wUpper_Limit_Integral;
     }
     else if (dwAux < PID_Struct->wLower_Limit_Integral)
           {  
             PID_Struct->wIntegral = PID_Struct->wLower_Limit_Integral;
           }
           else
           {
            PID_Struct->wIntegral = (s32)(dwAux);
           }
   }
   // Differential term computation
#ifdef DIFFERENTIAL_TERM_ENABLED
   {
   s32 wtemp;
   
   wtemp = wError - PID_Struct->wPreviousError;
   wDifferential_Term = PID_Struct->hKd_Gain * wtemp;
   PID_Struct->wPreviousError = wError;    // store value  
   }
   houtput_32 = (wProportional_Term/PID_Struct->hKp_Divisor+  
                 PID_Struct->wIntegral/PID_Struct->hKi_Divisor +  
                 wDifferential_Term/PID_Struct->hKd_Divisor); #else  

   houtput_32 = (wProportional_Term/PID_Struct->hKp_Divisor+  
                 PID_Struct->wIntegral/PID_Struct->hKi_Divisor);
#endif
   
     if (houtput_32 >= PID_Struct->hUpper_Limit_Output)
       {
       return(PID_Struct->hUpper_Limit_Output);         
       }
     else if (houtput_32 < PID_Struct->hLower_Limit_Output)
       {
       return(PID_Struct->hLower_Limit_Output);
       }
     else  
       {
         return((s16)(houtput_32));   
       }
}     with  

typedef struct  
{   
   s16 hKp_Gain;
   u16 hKp_Divisor;
   s16 hKi_Gain;
   u16 hKi_Divisor;   
   s16 hLower_Limit_Output;     //Lower Limit for Output limitation
   s16 hUpper_Limit_Output;     //Lower Limit for Output limitation
   s32 wLower_Limit_Integral;   //Lower Limit for Integral term limitation
   s32 wUpper_Limit_Integral;   //Lower Limit for Integral term limitation
   s32 wIntegral;
   // Actually used only if DIFFERENTIAL_TERM_ENABLED is enabled in
   //stm32f10x_MCconf.h
   s16 hKd_Gain;
   u16 hKd_Divisor;
   s32 wPreviousError;
} PID_Struct_t;

I let you find something smarter to avoid using 64 bit variable ;-)

Ciao,
Billino