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A-APPlication/PID.h

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+#ifndef __PID_H__
+#define __PID_H__
+
+typedef struct
+{
+	float Need_Value;//预期值
+	float Now_Value;//当前值
+	float OUT;//总输出
+	float OUT_Min;//输出限幅下限
+	float OUT_Max;//输出限幅上限
+
+	float Ek;//本次误差
+	float Ek_Last;//上一次误差
+	float Ek_Sum;//误差积分
+
+	float Kp;//Kp
+	float Ki;//Ki
+	float Kd;//Kd
+
+	float Ek_Del;//误差差分
+	float Ek_Min;//误差为0阈值下限
+	float Ek_Max;//误差为0阈值上限
+
+	float P_OUT;//比例输出
+	float I_OUT;//积分输出
+	float D_OUT;//微分输出
+}PID_PositionInitTypedef;//位置式PID参数结构体
+
+typedef struct
+{
+	float Need_Value;//预期值
+	float Now_Value;//当前值
+
+	float Ek;//本次误差
+	float Ek_Last;//上一次误差
+	float Ek_Last2;//上两次误差
+	float Ek_Min;//误差为0阈值下限
+	float Ek_Max;//误差为0阈值上限
+
+	float Kp;//Kp
+	float Ki;//Ki
+	float Kd;//Kd
+
+	float P_OUT;//比例输出
+	float I_OUT;//积分输出
+	float D_OUT;//微分输出
+	float OUT;//总输出
+	float OUT_Min;//输出限幅下限
+	float OUT_Max;//输出限幅上限
+}PID_IncrementalInitTypedef;//增量式PID参数结构体
+
+void PID_PositionStructureInit	(PID_PositionInitTypedef* PID_InitStructure,float NeedValue);				//位置式PID初始化结构体
+void PID_PositionSetParameter		(PID_PositionInitTypedef* PID_InitStructure,float kp,float ki,float kd);	//位置式PID设置参数
+void PID_PositionSetEkRange			(PID_PositionInitTypedef* PID_InitStructure,float ek_low,float ek_up);		//位置式PID设置误差为0阈值
+void PID_PositionSetOUTRange		(PID_PositionInitTypedef* PID_InitStructure,float out_low,float out_up);	//位置式PID设置输出限幅
+void PID_PositionSetNeedValue		(PID_PositionInitTypedef* PID_InitStructure,float NeedValue);
+void PID_PositionClean					(PID_PositionInitTypedef* PID_InitStructure);										//位置式PID清理
+void PID_PositionCalc						(PID_PositionInitTypedef* PID_InitStructure,float NowValue);						//位置式PID计算
+void PID_PositionCalc_Motor			(PID_PositionInitTypedef* PID_InitStructure,float NowValue);
+
+void PID_IncrementalStructureInit	(PID_IncrementalInitTypedef* PID_InitStructure,float NeedValue);		//增量式PID初始化结构体
+void PID_IncrementalSetParameter	(PID_IncrementalInitTypedef* PID_InitStructure,float kp,float ki,float kd);	//增量式PID设置参数
+void PID_IncrementalSetEkRange		(PID_IncrementalInitTypedef* PID_InitStructure,float ek_low,float ek_up);		//增量式PID设置误差为0阈值
+void PID_IncrementalSetOUTRange		(PID_IncrementalInitTypedef* PID_InitStructure,float out_low,float out_up);	//增量式PID设置输出限幅
+void PID_IncrementalCalc					(PID_IncrementalInitTypedef* PID_InitStructure,float NowValue);						//增量式PID计算
+
+#endif