121 lines
2.9 KiB
C
121 lines
2.9 KiB
C
/*
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* PID.c
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*
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* Created on: 2022年03月22日
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* Author: User
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*/
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#include <Main.h>
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#define kp 13.2 //比例
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#define ki 0.067 //积分
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#define kd 35 //微分
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//#define pidtime 6 // pid周期= pidtime * 50ms，至少300ms，否则6675无法工作
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#define iloss 10 //积分分离阈值，双极性
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sint16_t xdata ek1[2]; // ek0当前误差，ek1上次误差
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sint16_t xdata uk1; // pid计算输出值，规格化[0，100]
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sint32_t xdata iek1; //误差积分，分离式
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sint16_t xdata ek2[2]; // ek0当前误差，ek1上次误差
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sint16_t xdata uk2; // pid计算输出值，规格化[0，100]
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sint32_t xdata iek2; //误差积分，分离式
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static void Init(void);
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static uint8_t Realize(uint8_t CHANNEL, uint16_t temp_val);
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PID_t xdata PID_Func = {
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Init,
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Realize};
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static void Init(void)
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{
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ek1[0] = 0;
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ek1[1] = 0;
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uk1 = 0;
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iek1 = 0;
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ek2[0] = 0;
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ek2[1] = 0;
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uk2 = 0;
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iek2 = 0;
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}
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/**
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* @brief PID算法实现
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* @param CHANNEL 通道 Temp_Setting 目标值
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* @note 无
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* @retval 通过PID计算后的输出
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*/
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static uint8_t Realize(uint8_t CHANNEL, uint16_t Temp_Setting)
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{
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if (CHANNEL == Temp1_CHANNEL)
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{
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ek1[1] = ek1[0];
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ek1[0] = Temp_Setting - ADC.Temp1_Result; // 计算本次偏差
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if (ek1[0] <= (-iloss) || Temp_Setting == 0)
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{
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iek1 = 0;
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return 0;
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}
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else if (ek1[0] >= iloss)
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{
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iek1 = 0;
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return 100;
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}
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else if (ek1[0] > (-iloss) && ek1[0] < iloss) // 积分分离
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{
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iek1 += ek1[0];
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uk1 = ek1[0] * kp + iek1 * ki + (ek1[0] - ek1[1]) * kd; // PID运算
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if (uk1 <= 0)
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{
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if (ek1[0] < 0)
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iek1 -= ek1[0];
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uk1 = 0;
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}
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if (uk1 >= 100)
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{
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if (ek1[0] > 0)
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iek1 -= ek1[0];
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uk1 = 100;
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}
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return uk1;
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}
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}
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else if (CHANNEL == Temp2_CHANNEL) //通道2计算
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{
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ek2[1] = ek2[0];
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ek2[0] = Temp_Setting - ADC.Temp2_Result; // 计算本次偏差
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if (ek2[0] <= (-iloss) || Temp_Setting == 0)
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{
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iek2 = 0;
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return 0;
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}
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else if (ek2[0] >= iloss)
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{
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iek2 = 0;
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return 100;
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}
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if (ek2[0] > (-iloss) && ek2[0] < iloss) // 积分分离
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{
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iek2 += ek2[0];
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uk2 = ek2[0] * kp + iek2 * ki + (ek2[0] - ek2[1]) * kd; // PID运算
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if (uk2 <= 0)
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{
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if (ek2[0] < 0)
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iek2 -= ek2[0];
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uk2 = 0;
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}
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if (uk2 >= 100)
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{
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if (ek2[0] > 0)
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iek2 -= ek2[0];
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uk2 = 100;
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}
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return uk2;
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}
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}
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return FALSE;
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}
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