求一下增量式和位置式PID的C语言程序

2023-02-27 02:14:01Python015

求一下增量式和位置式PID的C语言程序,第1张

增量式PID：

typedef struct{

float scope //输出限幅量

float aim //目标输出量

float real_out //实际输出量

float Kp

float Ki

float Kd

float e0 //当前误差

float e1 //上一次误差

float e2 //上上次误差

}PID_Type

#define min(a, b) (a<b? a:b)

#define max(a, b) (a>b? a:b)

#define limiter(x, a, b) (min(max(x, a), b))

#define exchange(a, b, tmp) (tmp=a, a=b, b=tmp)

#define myabs(x) ((x<0)? -x:x)

float pid_acc(PID_Type *pid)

{

float out

float ep, ei, ed

pid->e0 = pid->aim - pid->real_out

ep = pid->e0 - pid->e1

ei = pid->e0

ed = pid->e0 - 2*pid->e1 + pid->e2

out = pid->Kp*ep + pid->Ki*ei + pid->Kd*ed

out = limiter(out, -pid->scope, pid->scope)

pid->e2 = pid->e1

pid->e1 = pid->e0

return out

}

位置式PID：

typedef struct{

float scope //输出限幅量

float aim //目标输出量

float real_out //反馈输出量

float Kp

float Ki

float Kd

float Sum

float e0 //当前误差

float e1 //上一次误差

}PID_Type

#define max(a, b) (a>b? a:b)

#define min(a, b) (a<b? a:b)

#define limiter(x, a, b) (min(max(x, a), b))

float pid_pos(PID_Type *p)

{

float pe, ie, de

float out = 0

p->e0 = p->aim - p->real_out //计算当前误差

p->Sum += p->e0 //误差积分

de = p->e0 - p->e1 //误差微分

pe = p->e0

ie = p->Sum

p->e1 = p->e0

out = pe*(p->Kp) + ie*(p->Ki) + de*(p->Kd)

out = limiter(out, -p->scope, p->scope) //输出限幅

return out

}

亲手移植到我的stm32小车上调试3个参数后正常使用。

#include<unistd.h>

#include<stdio.h>

int main(int argc,int **argv)

{

int pid=fork()

if(pid==-1)

{

printf("error")

}

else if(pid==0)

{

printf("This is the child process!\n")

}

else

{

printf("This is the parent process! child process id=%d\n",pid)

}

return 0

}

首先为什么这段代码gcc编译不了，只能用g++编译，gcc编译显示结果如下

Undefined first referenced

symbol in file

__gxx_personality_v0/var/tmp//ccuHN8IS.o

ld: fatal: Symbol referencing errors. No output written to t5

collect2: ld returned 1 exit status

其次，g++编译后运行结果如下

This is the parent process! child process id=27406

This is the child process!

//PID算法温控C语言2008-08-17 18:58

#include<reg51.h>

#include<intrins.h>

#include<math.h>

#include<string.h>

struct PID {

unsigned int SetPoint// 设定目标 Desired Value

unsigned int Proportion// 比例常数 Proportional Const

unsigned int Integral// 积分常数 Integral Const

unsigned int Derivative// 微分常数 Derivative Const

unsigned int LastError// Error[-1]

unsigned int PrevError// Error[-2]

unsigned int SumError// Sums of Errors

}

struct PID spid// PID Control Structure

unsigned int rout// PID Response (Output)

unsigned int rin// PID Feedback (Input)

sbit data1=P1^0

sbit clk=P1^1

sbit plus=P2^0

sbit subs=P2^1

sbit stop=P2^2

sbit output=P3^4

sbit DQ=P3^3

unsigned char flag,flag_1=0

unsigned char high_time,low_time,count=0//占空比调节参数

unsigned char set_temper=35

unsigned char temper

unsigned char i

unsigned char j=0

unsigned int s

/***********************************************************

延时子程序,延时时间以12M晶振为准,延时时间为30us×time

***********************************************************/

void delay(unsigned char time)

{

unsigned char m,n

for(n=0n<timen++)

for(m=0m<2m++){}

}

/***********************************************************

写一位数据子程序

***********************************************************/

void write_bit(unsigned char bitval)

{

EA=0

DQ=0/*拉低DQ以开始一个写时序*/

if(bitval==1)

{

_nop_()

DQ=1/*如要写1，则将总线置高*/

}

delay(5)/*延时90us供DA18B20采样*/

DQ=1/*释放DQ总线*/

_nop_()

EA=1

}

/***********************************************************

写一字节数据子程序

***********************************************************/

void write_byte(unsigned char val)

{

unsigned char i

unsigned char temp

EA=0 /*关中断*/

TR0=0

for(i=0i<8i++) /*写一字节数据，一次写一位*/

{

temp=val>>i/*移位操作，将本次要写的位移到最低位*/

temp=temp&1

write_bit(temp)/*向总线写该位*/

}

delay(7)/*延时120us后*/

// TR0=1

EA=1/*开中断*/

}

/***********************************************************

读一位数据子程序

***********************************************************/

unsigned char read_bit()

{

unsigned char i,value_bit

EA=0

DQ=0/*拉低DQ，开始读时序*/

_nop_()

DQ=1/*释放总线*/

for(i=0i<2i++){}

value_bit=DQ

EA=1

return(value_bit)

}

/***********************************************************

读一字节数据子程序

***********************************************************/

unsigned char read_byte()

{

unsigned char i,value=0

EA=0

for(i=0i<8i++)

{

if(read_bit()) /*读一字节数据，一个时序中读一次，并作移位处理*/

value|=0x01<<i

delay(4)/*延时80us以完成此次都时序，之后再读下一数据*/

}

EA=1

return(value)

}

/***********************************************************

复位子程序

***********************************************************/

unsigned char reset()

{

unsigned char presence

EA=0

DQ=0/*拉低DQ总线开始复位*/

delay(30)/*保持低电平480us*/

DQ=1/*释放总线*/

delay(3)

presence=DQ/*获取应答信号*/

delay(28)/*延时以完成整个时序*/

EA=1

return(presence)/*返回应答信号，有芯片应答返回0,无芯片则返回1*/

}

/***********************************************************

获取温度子程序

***********************************************************/

void get_temper()

{

unsigned char i,j

{

i=reset()/*复位*/

}while(i!=0)/*1为无反馈信号*/

i=0xcc/*发送设备定位命令*/

write_byte(i)

i=0x44/*发送开始转换命令*/

write_byte(i)

delay(180)/*延时*/

{

i=reset()/*复位*/

}while(i!=0)

i=0xcc/*设备定位*/

write_byte(i)

i=0xbe/*读出缓冲区内容*/

write_byte(i)

j=read_byte()

i=read_byte()

i=(i<<4)&0x7f

s=(unsigned int)(j&0x0f)

s=(s*100)/16

j=j>>4

temper=i|j/*获取的温度放在temper中*/

}

/*====================================================================================================

Initialize PID Structure

=====================================================================================================*/

void PIDInit (struct PID *pp)

{

memset ( pp,0,sizeof(struct PID))

}

/*====================================================================================================

PID计算部分

=====================================================================================================*/

unsigned int PIDCalc( struct PID *pp, unsigned int NextPoint )

{

unsigned int dError,Error

Error = pp->SetPoint - NextPoint// 偏差

pp->SumError += Error// 积分

dError = pp->LastError - pp->PrevError// 当前微分

pp->PrevError = pp->LastError

pp->LastError = Error

return (pp->Proportion * Error//比例

+ pp->Integral * pp->SumError //积分项

+ pp->Derivative * dError)// 微分项

}

/***********************************************************

温度比较处理子程序

***********************************************************/

compare_temper()

{

unsigned char i

if(set_temper>temper)

{

if(set_temper-temper>1)

{

high_time=100

low_time=0

}

else

{

for(i=0i<10i++)

{ get_temper()

rin = s// Read Input

rout = PIDCalc ( &spid,rin )// Perform PID Interation

}

if (high_time<=100)

high_time=(unsigned char)(rout/800)

else

high_time=100

low_time= (100-high_time)

}

else if(set_temper<=temper)

{

if(temper-set_temper>0)

{

high_time=0

low_time=100

}

else

{

for(i=0i<10i++)

{ get_temper()

rin = s// Read Input

rout = PIDCalc ( &spid,rin )// Perform PID Interation

}

if (high_time<100)

high_time=(unsigned char)(rout/10000)

else

high_time=0

low_time= (100-high_time)

}

// else

// {}

}

/*****************************************************

T0中断服务子程序，用于控制电平的翻转 ,40us*100=4ms周期

******************************************************/

void serve_T0() interrupt 1 using 1

{

if(++count<=(high_time))

output=1

else if(count<=100)

{

output=0

}

else

count=0

TH0=0x2f

TL0=0xe0

}

/*****************************************************

串行口中断服务程序，用于上位机通讯

******************************************************/

void serve_sio() interrupt 4 using 2

{

/* EA=0

RI=0

i=SBUF

if(i==2)

{

while(RI==0){}

RI=0

set_temper=SBUF

SBUF=0x02

while(TI==0){}

TI=0

}

else if(i==3)

{

TI=0

SBUF=temper

while(TI==0){}

TI=0

}

EA=1*/

}

void disp_1(unsigned char disp_num1[6])

{

unsigned char n,a,m

for(n=0n<6n++)

{

// k=disp_num1[n]

for(a=0a<8a++)

{

clk=0

m=(disp_num1[n]&1)

disp_num1[n]=disp_num1[n]>>1

if(m==1)

data1=1

else

data1=0

_nop_()

clk=1

_nop_()

}

/*****************************************************

显示子程序

功能：将占空比温度转化为单个字符，显示占空比和测得到的温度

******************************************************/

void display()

{

unsigned char code number[]={0xfc,0x60,0xda,0xf2,0x66,0xb6,0xbe,0xe0,0xfe,0xf6}

unsigned char disp_num[6]

unsigned int k,k1

k=high_time

k=k%1000

k1=k/100

if(k1==0)

disp_num[0]=0

else

disp_num[0]=0x60

k=k%100

disp_num[1]=number[k/10]

disp_num[2]=number[k%10]

k=temper

k=k%100

disp_num[3]=number[k/10]

disp_num[4]=number[k%10]+1

disp_num[5]=number[s/10]

disp_1(disp_num)

}

/***********************************************************

主程序

***********************************************************/

main()

{

unsigned char z

unsigned char a,b,flag_2=1,count1=0

unsigned char phil[]={2,0xce,0x6e,0x60,0x1c,2}

TMOD=0x21

TH0=0x2f

TL0=0x40

SCON=0x50

PCON=0x00

TH1=0xfd

TL1=0xfd

PS=1

EA=1

EX1=0

ET0=1

ES=1

TR0=1

TR1=1

high_time=50

low_time=50

PIDInit ( &spid )// Initialize Structure

spid.Proportion = 10// Set PID Coefficients

spid.Integral = 8

spid.Derivative =6

spid.SetPoint = 100// Set PID Setpoint

while(1)

{

if(plus==0)

{

EA=0

for(a=0a<5a++)

for(b=0b<102b++){}

if(plus==0)

{

set_temper++

flag=0

}

else if(subs==0)

{

for(a=0a<5a++)

for(b=0a<102b++){}

if(subs==0)

{

set_temper--

flag=0

}

else if(stop==0)

{

for(a=0a<5a++)

for(b=0b<102b++){}

if(stop==0)

{

flag=0

break

}

EA=1

}

get_temper()

b=temper

if(flag_2==1)

a=b

if((abs(a-b))>5)

temper=a

else

temper=b

a=temper

flag_2=0

if(++count1>30)

{

display()

count1=0

}

compare_temper()

}

TR0=0

z=1

while(1)

{

EA=0

if(stop==0)

{

for(a=0a<5a++)

for(b=0b<102b++){}

if(stop==0)

disp_1(phil)

// break

}

EA=1

}

//DS18b20 子程序

#include <REG52.H>

sbit DQ=P2^1 //定义端口

typedef unsigned char byte

typedef unsigned int word

//延时

void delay(word useconds)

{

for(useconds>0useconds--)

}

//复位

byte ow_reset(void)

{

byte presence

DQ=0//DQ低电平

delay(29) //480us

DQ=1//DQ高电平

delay(3)//等待

presence=DQ//presence信号

delay(25)

return(presence)

} //0允许，1禁止

//从1-wire 总线上读取一个字节

byte read_byte(viod)

{

byte i

byte value=0

for (i=8i>0i--)

{

value>>=1

DQ=0

DQ=1

delay(1)

if(DQ)value|=0x80

delay(6)

}

return(value)

}

//向1-wire总线上写一个字节

void write_byte(char val)

{

byte i

for (i=8i>0i--) //一次写一个字节

{

DQ=0

DQ=val&0x01

delay(5)

DQ=1

val=val/2

}

delay(5)

}

//读取温度

char Read_Temperature(void)

{

union{

byte c[2]

int x

}temp

ow_reset()

write_byte(0xcc)

write_byte(0xBE)

temp.c[1]=read_byte()

temp.c[0]=read_byte()

ow_reset()

write_byte(0xCC)

write_byte(0x44)

return temp.x/2

}

子程序误差总线字节时序

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