float PID_realize(float speed){ pid.SetSpeed=speed;
pid.err=pid.SetSpeed-pid.ActualSpeed; pid.integral+=pid.err;
pid.voltage=pid.Kp*pid.err+pid.Ki*pid.integral+pid.Kd*(pid.err-pid.err_last);
pid.err_last=pid.err;
pid.ActualSpeed=pid.voltage*1.0; return pid.ActualSpeed; }
注意：这里用了最基本的算法实现形式，没有考虑死区问题，没有设定上下限，只是对公式的一种直接的实现，后面的介绍当中还会逐渐的对此改进。 到此为止，PID的基本实现部分就初步完成了。下面是测试代码： int main(){
printf(\ PID_init(); int count=0;
while(count<1000) {
float speed=PID_realize(200.0); printf(\ count++; }
return 0; }
下面是经过1000次的调节后输出的1000个数据（具体的参数整定过程就不说明了，网上这种说明非常多）：
83.000001 11.555000 59.559675 28.175408 52.907421 38.944152 51.891699 46.141651 53.339054 51.509998 55.908450 55.944631 58.970680
59.882936 62.225001 63.537254 65.527707 67.011058 68.810646 70.355318 72.042040 73.595658 75.207620 76.745444 78.301526 79.812136
81.321929 82.800304 84.268909 85.713108 87.143455 88.553005 89.946960 91.322078 92.680996 94.022234 95.347186 96.655242 97.947180
99.222808 100.482601 101.726572 102.955049 104.168125 105.366066 106.549019 107.717187 108.870756 110.009898 111.134811 112.245652 113.342615
114.425860 115.495564 116.551897 117.595029 118.625116 119.642331 120.646826 121.638767 122.618307 123.585603 124.540813 125.484079 126.415549
127.335383 128.243715 129.140691 130.026459 130.901149 131.764909 132.617870 133.460162 134.291942 135.113308 135.924419 136.725382 137.516332
138.297401 139.068697 139.830352 140.582499 141.325237 142.058701 142.782985 143.498218 144.204509 144.901969 145.590726 146.270843 146.942486
147.605718 148.260674 148.907425 149.546109 150.176794 150.799612 151.414626 152.021959 152.621696 169.876198 170.252740 170.624605 170.991799 171.354406 171.712487 172.066080 172.415265 172.760077 182.680475 182.896971 183.110768 183.321881 183.530369 183.736239 183.939545 184.140301 184.338555 190.042233 190.166702 190.289633 190.411007 190.530867 190.649236 190.766119 190.881544 190.995531 194.274828 194.346393 194.417073 194.486854 194.555777 194.623820 194.691027 194.757390 194.822919 196.708363 196.749493 196.790138 196.830267 196.869889 196.909019 196.947656 196.985803 197.023493 198.107481 198.131129 198.154493 198.177566 198.200349 198.222843 198.245062 198.267001 198.288662 153.213951 153.798781 154.376315 154.946626 155.509812 156.065958 156.615146 157.157471 157.693012 158.221871 158.744097 159.259826 159.769078 160.271991 160.768588 161.258996 161.743264 162.221494 162.693737 163.160075 163.620593 164.075347 164.524422 164.967877 165.405795 165.838235 166.265257 166.686967 167.103377 167.514610 167.920681 168.321682 168.717670 169.108719 169.494862
173.100594 173.436838 173.768895 174.096796 174.420594 174.740352 175.056096 175.367915 175.675818 175.979886 176.280136 176.576656 176.869444 177.158600 177.444121 177.726087 178.004510 178.279458 178.550967 178.819094 179.083860 179.345315 179.603504 179.858466 180.110241 180.358866 180.604388 180.846849 181.086262 181.322699 181.556172 181.786733 182.014396 182.239222 182.461226
184.534321 184.727651 184.918558 185.107080 185.293243 185.477080 185.658625 185.837886 186.014930 186.189745 186.362382 186.532859 186.701207 186.867437 187.031605 187.193713 187.353802 187.511884 187.667997 187.822151 187.974384 188.124700 188.273148 188.419728 188.564488 188.707429 188.848592 188.987995 189.125644 189.261576 189.395801 189.528364 189.659258 189.788528 189.916170
191.108087 191.219243 191.329005 191.437382 191.544428 191.650111 191.754504 191.857565 191.959350 192.059857 192.159119 192.257135 192.353919 192.449511 192.543890 192.637105 192.729137 192.820032 192.909776 192.998410 193.085920 193.172360 193.257700 193.341993 193.425214 193.507408 193.588568 193.668715 193.747847 193.826004 193.903175 193.979391 194.054643 194.128963 194.202349
194.887626 194.951536 195.014633 195.076965 195.138496 195.199273 195.259270 195.318547 195.377060 195.434856 195.491918 195.548283 195.603919 195.658886 195.713145 195.766734 195.819654 195.871912 195.923517 195.974472 196.024791 196.074478 196.123558 196.172016 196.219859 196.267115 196.313778 196.359851 196.405363 196.450296 196.494672 196.538492 196.581753 196.624494 196.666678
197.060701 197.097449 197.133733 197.169558 197.204940 197.239872 197.274378 197.308436 197.342089 197.375309 197.408125 197.440523 197.472520 197.504114 197.535309 197.566127 197.596546 197.626594 197.656258 197.685546 197.714486 197.743047 197.771265 197.799113 197.826629 197.853799 197.880631 197.907131 197.933284 197.959122 197.984629 198.009823 198.034705 198.059275 198.083520
198.310059 198.331178 198.352049 198.372645 198.392982 198.413066 198.432911 198.452499 198.471846 198.490953 198.509819 198.528439 198.546842 198.565003 198.582945 198.600648 198.618147 198.635415 198.652474 198.669313 198.685955 198.702378 198.718611 198.734625 198.750448 198.766067 198.781497 198.796736 198.811776 198.826628 198.841303 198.855788 198.870087 198.884218 198.898162
198.911943 198.925538 198.938970 198.952229 198.965320 198.978257 198.991033 199.003643 199.016092 199.374396 199.382228 199.389943 199.397586 199.405110 199.412555 199.419891 199.427152 199.434307 199.640316 199.644808 199.649249 199.653636 199.657959 199.662246 199.666457 199.670635 199.674752 199.793204 199.795787 199.798338 199.800860 199.803343 199.805802 199.808225 199.810624 199.812986 199.881136 199.882613 199.884088 199.885527 199.886971 199.888371 199.889783 199.891142 199.892518 199.931653 199.932509 199.933353 199.934187 199.935002 199.935816 199.936617 199.937420 199.938195 199.960689 199.961191 199.961665 199.962156 199.962619 199.963098 199.963543 199.964014 199.964448 199.028390 199.040542 199.052536 199.064373 199.076067 199.087617 199.099019 199.110280 199.121407 199.132381 199.143240 199.153940 199.164511 199.174957 199.185270 199.195457 199.205514 199.215440 199.225262 199.234930 199.244503 199.253928 199.263275 199.272468 199.281571 199.290541 199.299421 199.308165 199.316815 199.325345 199.333789 199.342115 199.350336 199.358462 199.366479
199.441389 199.448363 199.455264 199.462073 199.468802 199.475442 199.481995 199.488475 199.494857 199.501183 199.507404 199.513578 199.519639 199.525656 199.531579 199.537437 199.543230 199.548936 199.554583 199.560149 199.565647 199.571073 199.576436 199.581730 199.586961 199.592118 199.597220 199.602260 199.607218 199.612132 199.616974 199.621764 199.626486 199.631156 199.635757
199.678815 199.682833 199.686798 199.690715 199.694583 199.698409 199.702177 199.705905 199.709582 199.713209 199.716788 199.720339 199.723826 199.727276 199.730690 199.734054 199.737378 199.740657 199.743901 199.747111 199.750260 199.753393 199.756474 199.759526 199.762524 199.765490 199.768422 199.771314 199.774169 199.776992 199.779775 199.782527 199.785247 199.787938 199.790590
199.815326 199.817642 199.819915 199.822175 199.824388 199.826587 199.828755 199.830902 199.833006 199.835097 199.837155 199.839194 199.841210 199.843191 199.845168 199.847096 199.849024 199.850905 199.852784 199.854621 199.856449 199.858238 199.860016 199.861757 199.863486 199.865199 199.866879 199.868549 199.870186 199.871813 199.873419 199.874997 199.876563 199.878109 199.879620
199.893845 199.895180 199.896485 199.897783 199.899057 199.900322 199.901562 199.902797 199.904010 199.905222 199.906392 199.907576 199.908720 199.909875 199.910985 199.912108 199.913193 199.914287 199.915352 199.916423 199.917459 199.918505 199.919527 199.920526 199.921513 199.922496 199.923452 199.924415 199.925348 199.926275 199.927198 199.928108 199.929019 199.929903 199.930788
199.938971 199.939733 199.940477 199.941228 199.941961 199.942685 199.943392 199.944111 199.944804 199.945491 199.946181 199.946854 199.947518 199.948165 199.948824 199.949456 199.950083 199.950714 199.951326 199.951930 199.952532 199.953125 199.953714 199.954290 199.954863 199.955424 199.955979 199.956538 199.957073 199.957623 199.958146 199.958671 199.959189 199.959693 199.960203
199.964907 199.965330 199.965772 199.966201 199.966625 199.967046 199.967458 199.967868 199.968263 199.968664 199.969047 199.969437 199.969817 199.970193 199.970565 199.970943 199.971297 199.971668 199.972011 199.972363 199.972712 199.973047 199.973388 199.973726 199.974049 199.974379 199.974699 199.975014 199.975326 199.975645 199.975939 199.976249 199.976546 199.976832 199.977125
199.977414 199.977688 199.977969 199.978247 199.978525 199.978782 199.979061 199.979312 199.979576 199.986668 199.986846 199.987006 199.987169 199.987321 199.987481 199.987633 199.987800 199.987948 199.992123 199.992214 199.992314 199.992412 199.992503 199.992604 199.992701 199.992792 199.992878 199.995346 199.995416 199.995466 199.995536 199.995593 199.995653 199.995713 199.995759 199.995811 199.997256 199.997294 199.997325 199.997365 199.997403 199.997434 199.997474 199.997512 199.997543 199.998387 199.998416 199.998436 199.998459 199.998488 199.998508 199.998537 199.998556 199.998585 199.998995 199.999003 199.999014 199.999032 199.999034 199.999055 199.999063 199.999074 199.999092 199.979825 199.980077 199.980335 199.980569 199.980812 199.981053 199.981300 199.981522 199.981755 199.981984 199.982213 199.982427 199.982648 199.982860 199.983080 199.983298 199.983501 199.983704 199.983914 199.984114 199.984309 199.984500 199.984698 199.984887 199.985079 199.985262 199.985442 199.985623 199.985803 199.985984 199.986170 199.986327 199.986508
199.988094 199.988237 199.988386 199.988526 199.988675 199.988815 199.988965 199.989090 199.989231 199.989359 199.989491 199.989629 199.989757 199.989889 199.990012 199.990133 199.990253 199.990373 199.990493 199.990614 199.990734 199.990854 199.990960 199.991072 199.991180 199.991289 199.991398 199.991507 199.991616 199.991718 199.991837 199.991922 199.992025
199.992967 199.993047 199.993136 199.993216 199.993305 199.993385 199.993474 199.993554 199.993637 199.993726 199.993806 199.993881 199.993952 199.994024 199.994101 199.994170 199.994241 199.994313 199.994391 199.994459 199.994531 199.994602 199.994680 199.994748 199.994805 199.994868 199.994928 199.994989 199.995049 199.995109 199.995175 199.995226 199.995295
199.995859 199.995902 199.995960 199.995999 199.996051 199.996100 199.996148 199.996191 199.996249 199.996288 199.996340 199.996389 199.996438 199.996480 199.996538 199.996578 199.996629 199.996678 199.996712 199.996746 199.996787 199.996824 199.996855 199.996896 199.996927 199.996967 199.997005 199.997036 199.997076 199.997113 199.997145 199.997185 199.997216
199.997583 199.997614 199.997640 199.997669 199.997689 199.997711 199.997740 199.997760 199.997789 199.997809 199.997838 199.997858 199.997880 199.997909 199.997929 199.997958 199.997978 199.998007 199.998027 199.998049 199.998078 199.998098 199.998127 199.998147 199.998170 199.998199 199.998218 199.998247 199.998267 199.998296 199.998316 199.998339 199.998368
199.998590 199.998605 199.998616 199.998634 199.998642 199.998654 199.998665 199.998676 199.998694 199.998702 199.998714 199.998725 199.998743 199.998745 199.998766 199.998774 199.998785 199.998803 199.998805 199.998826 199.998834 199.998845 199.998863 199.998871 199.998883 199.998894 199.998905 199.998923 199.998931 199.998943 199.998954 199.998972 199.998974
199.999094 199.999115 199.999123 199.999135 199.999152 199.999161 199.999172 199.999183 199.999201 199.999203 199.999224 199.999232 199.999243 199.999261 199.999263 199.999284 199.999292 199.999304 199.999321 199.999323 199.999344 199.999352 199.999364 199.999381 199.999390 199.999401 199.999412 199.999430 199.999432 199.999453 199.999461 199.999473
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，位置型和增量型PID的数学公式请参见我的系列文《PID控制算法的C语言实现二》中的讲解。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，详细分类请参加《PID控制算法的C语言实现三》中的讲解，这里直接给出代码了。 #include
struct _pid{
float SetSpeed; //定义设定值 float ActualSpeed; //定义实际值 float err; //定义偏差值
float err_next; //定义上一个偏差值 float err_last; //定义最上前的偏差值
float Kp,Ki,Kd; //定义比例、积分、微分系数 }pid;
void 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_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; }
PID控制算法的C语言实现（完整版）
