Increment PID control function source code (C language)

Source: Internet
Author: User

Bowen from: http://blog.sina.com.cn/s/blog_408540af0100asu3.html

typedef struct pid{
Double Command; Input directives
Double proportion; Proportional coefficient
Double Integral; Integral coefficient
Double derivative; Differential coefficient
Double Pre2err; First two beat error
Double Preerr; Previous beat Error
}pid;

Double Pidcale (PID *p,double feedback)
{
Double Err,perr,derr,du;
err=p->command-feedback; Current error
perr=err-p->preerr; Increment error of proportional item
derr=err-2*p->preerr+p->pre2err; Incremental error of differential item
du=p->proportion*perr+p->derivative*derr+p->integral*err; Amount of control increment
p->pre2err=p->preerr;
p->preerr=err;
return DU;
}

void Pidinit (PID *p)
{
memset (p,0,sizeof (PID)); Class
}

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