微分先行PID控制算法用C语言实现！

1.微分先行PID控制算法框图

2.微分先行PID控制算法公式

3.微分先行PID控制公式用C语言实现

微分先行的PID算法实现，包括位置型和增量型两种实现方式。

（1）位置型

void PIDRegulation(PID *vPID, float processValue)

{

  float thisError;

  float c1,c2,c3,temp;

  thisError=vPID->setpoint-processValue;

  vPID->integral+=thisError;



  temp= vPID-> gama * vPID-> derivativegain + vPID-> proportiongain;

  c3= vPID-> derivativegain/temp;

  c2=( vPID-> derivativegain+ vPID-> proportiongain)/temp;

  c1= vPID-> gama*c3;

  vPID->derivative=c1* vPID-> derivative+c2* processValue+c3* vPID-> lastPv;

  vPID->result=vPID->proportiongain*thisError+vPID->integralgain*vPID->integral+vPID-> derivative;

  vPID->lasterror=thisError;

  vPID-> lastPv= processValue;

}

/*定义结构体和公用体*/

typedef struct

{

  float setpoint;           //设定值

  float proportiongain;     //比例系数

  float integralgain;       //积分系数

  float derivativegain;     //微分系数

  float lasterror;          //前一拍偏差

  float result;             //输出值

  float integral;           //积分值

  float derivative;         //微分项

  float lastPv;             //前一拍的测量值

  float gama;               //微分先行滤波系数

}PID;

（2）增量型

void PIDRegulation(PID *vPID, float processValue)

{

  float thisError;

  float increment;

  float pError,iError;

  float c1,c2,c3,temp;

  float deltaPv;


  temp= vPID-> gama * vPID-> derivativegain + vPID-> proportiongain;

  c3= vPID-> derivativegain/temp;

  c2=( vPID-> derivativegain+ vPID-> proportiongain)/temp;

  c1= vPID-> gama*c3;

 

  deltaPv= processValue- vPID-> lastDeltaPv

  vPID-> deltadiff =c1* vPID-> deltadiff +c2* deltaPv +c3* vPID-> lastDeltaPv;

 

  thisError=vPID->setpoint-processValue; //得到偏差值

  pError=thisError-vPID->lasterror;

  iError=thisError;

  increment=vPID->proportiongain*pError+vPID->integralgain*iError+ vPID-> deltadiff;   //增量计算

 

  vPID->preerror=vPID->lasterror;  //存放偏差用于下次运算

  vPID->lastDeltaPv=deltaPv;

  vPID->lastPv= processValue;

  vPID->lasterror=thisError;

  vPID->result+=increment;

}

/*定义结构体和公用体*/
typedef struct

{
 
  float setpoint;                //设定值

  float proportiongain;         //比例系数

  float integralgain;           //积分系数

  float derivativegain;         //微分系数

  float lasterror;              //前一拍偏差

  float preerror;               //前两拍偏差

  float deadband;               //死区

  float result;                 //输出值

  float deltadiff;              /*微分增量*/

  float integralValue;          /*积分累计量*/

  float gama;                   /*微分先行滤波系数*/

  float lastPv;                 /*上一拍的过程测量值*/

  float lastDeltaPv;            /*上一拍的过程测量值增量*/

}PID;

微分先行PID控制是只对输出量进行微分，而对给定指令不起微分作用，因此它适合于给定指令频繁升降和高频干扰的场合，可以避免指令的改变导致超调过大。

（参考http://www.cnblogs.com/foxclever/p/9159677.html）