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TI公司的PID程序，怎么感觉我所认知的PID不一样，求指教！（积分和微分的求法，怎么有点看不懂了）

2015-08-02 分类：C2000™ 32位实时 MCU 阅读(331)

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

Yuqiao Hu：

上面的大部分的问题都解决了！

就这一句比较费解了：v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;     这一句是用来求积分环节的，但是加粗部分很费解

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

rookiecalf：

回复 Yuqiao Hu:

积分是个累加的过程

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

Yuqiao Hu：

回复 rookiecalf:

但是也不是v->ui=v->ui+  这样啊，应该是v->ui=v->ui1+这样吧

应该是在它原来的基础上累加吧！

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

rookiecalf：

回复 Yuqiao Hu:

ui1是什么量，你的代码中好像没有看到啊，如果等于前面计算的ui,那也是可以的

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

Yuqiao Hu：

回复 CHENG LIANG:

谢谢各位了！我忽略了v->Ui里面原来是有赋值的，就比如我曾经做的累加计算，Sum=Sum+i;

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

CHENG LIANG：

请问这个函数在哪里找到的？

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

user1088122：

回复 CHENG LIANG:

controlsuite的库里面，电机库

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

Yuqiao Hu：

回复 user1088122:

电机库在哪里啊！还有就是controlsuite里面到底有哪些内容？

void pid_reg3_calc(PIDREG3 *v)
{ // Compute the error
v->Err = v->Ref – v->Fdb;
// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;
// Compute the derivative output
v->Ud = v->Kd*(v->Up – v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax) v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin; else
v->Out = v->OutPreSat; // Compute the saturate difference
v->SatErr = v->Out – v->OutPreSat; // Update the previous proportional output v->Up1 = v->Up;}

囧：

回复 Yuqiao Hu:

C:\TI\controlSUITE\libs\app_libs\motor_control 电机库在controlsuite以下位置

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