PID控制算法的C++语言实现
四 增量型PID的C++语言实现
上一节中介绍了最简单的位置型PID的实现手段，这一节主要讲解增量式PID的实现方法.实现过程仍然是分为定义变量、初始化变量、实现控制算法函数、算法测试四个部分，这里直接给出代码了。
pid.h:
#ifndef _PID_H_
#define _PID_H_
typedef struct _pid{
float SetSpeed;
float ActualSpeed;
float err;
float err_next;
float err_last;
float Kp, Ki, Kd;
}Pid;
class Pid_control
{
public:
void PID_init();
float PID_realize(float speed);
private:
int index;
Pid pid;
};
#endif
pid.cpp:
#include <iostream>
#include "pid.h"
using namespace std;
void Pid_control::PID_init()
{
pid.SetSpeed = 0.0;
pid.ActualSpeed = 0.0;
pid.err = 0.0;
pid.err_last = 0.0;
pid.err_next = 0.0;
pid.Kp = 0.2;
pid.Ki = 0.015;
pid.Kd = 0.2;
}
float Pid_control::PID_realize(float speed){
pid.SetSpeed = speed;
pid.err = pid.SetSpeed - pid.ActualSpeed;
float incrementSpeed = pid.Kp*(pid.err - pid.err_next) + pid.Ki*pid.err + pid.Kd*(pid.err - 2 * pid.err_next + pid.err_last);
pid.ActualSpeed += incrementSpeed;
pid.err_last = pid.err_next;
pid.err_next = pid.err;
return pid.ActualSpeed;
}
main.cpp:
#include "pid.h"
#include <iostream>
using namespace std;
int main()
{
Pid_control Pid;
Pid.PID_init();
int count = 0;
while (count<1000)
{
float speed = Pid.PID_realize(200.0);
cout << speed << ";" << " ";
count++;
}
cout << endl;
system("pause");
return 0;
}
运行后的1000个数据为：
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