C语言PID演示程序

#include <string.h>#include<stdio.h>typedef struct PID{ double Command; //输入指令 double Proportion;  //比例系数 double Integral;   //积分系数 double Derivative;  //微分系数 double preErr;    //前一拍误差 double sumErr;    //误差累积}PID;double PIDCale(PID *p,double feedback){ double dErr,Err; Err=p->Command-feedback;  //当前误差 p->sumErr+=Err;      //误差累加 dErr=Err-p->preErr;   //误差微分 p->preErr=Err;     return(p->Proportion*Err  //比例项  +p->Derivative*dErr   //微分项  +p->Integral*p->sumErr);  //积分项}void PIDInit(PID *p){ memset(p,0,sizeof(PID));  //初始化}typedef struct motor{ double lastY; double preY; double lastU; double preU;}motor;void motorInit(motor *m){ memset(m,0,sizeof(motor));}double motorCal(motor *m,double u){ double y=1.9753*m->lastY-0.9753*m->preY+0.00003284*u+0.00006568*m->lastU+0.00003284*m->preU;//二阶系统 m->preY=m->lastY; m->lastY=y; m->preU=m->lastU; m->lastU=u; return y;}void main(){ FILE *fp=fopen("data.txt","w+"); PID sPID;  motor m_motor;   int k=0; double u; double y=0; PIDInit(&sPID); sPID.Proportion=2; sPID.Derivative=1; sPID.Integral=0.00001; sPID.Command=10; motorInit(&m_motor); while(k<=1000) {•  fprintf(fp,"%d   设定值=%f   被控量=%f   偏差=%f   控制量=%fn",k,sPID.Command,y,sPID.Command-y,u);  u=PIDCale(&sPID,y);  y=motorCal(&m_motor,u);  k++; } printf("%fn",y); fclose(fp);}