www.pudn.com > TMS320F2812Sci.rar > Pid.c

/*============================================ 
File Name  : pid.cpp 
Description: pid controller 
Version	   : 0.1 that is debug version 
Author     : he hai long 
Date       : 10/22/2003 
==============================================*/ 
 
#include "pid.h" 
 
void PidInit(struct PidData *data) 
{ 
	data->States.P = 0; 
	data->States.I = 0; 
	data->States.D = 0; 
	data->States.yold = 0; 
	data->Par.K = 4.4; 
	data->Par.Ti = 0.4; 
	data->Par.Td = 0.2; 
	data->Par.Tt = 10; 
	data->Par.N = 10; 
	data->Par.b = 1; 
	data->Par.ulow = -1; 
	data->Par.uhigh = 1; 
	data->Par.h = 0.03; 
	data->Par.bi = data->Par.K*data->Par.h/data->Par.Ti; 
	data->Par.ar = data->Par.h/data->Par.Tt; 
	data->Par.bd = data->Par.K*data->Par.N*data->Par.Td/(data->Par.Td+data->Par.N*data->Par.h); 
	data->Par.ad = data->Par.Td/(data->Par.Td+data->Par.N*data->Par.h); 
} 
 
void PidCalculateOutput(struct PidData *data) 
{ 
	//Proportional part 
	data->States.P = data->Par.K*(data->Par.b*data->Signals.uc-data->Signals.y); 
	//Derivative part 
	data->States.D = data->Par.ad*data->States.D 
		-data->Par.bd*(data->Signals.y-data->States.yold); 
	//calculate control signal 
	data->Signals.v = data->States.P+data->States.I+data->States.D; 
	//handle actuator limitations 
	if(data->Signals.v < data->Par.ulow) 
	{ 
		data->Signals.u = data->Par.ulow; 
	} 
	else if(data->Signals.v > data->Par.uhigh) 
	{ 
		data->Signals.u = data->Par.uhigh; 
	} 
	else 
	{ 
		data->Signals.u = data->Signals.v; 
	} 
} 
void PidUpdateStates(struct PidData *data) 
{ 
	//integral part 
	data->States.I = data->States.I+ 
		data->Par.bi*(data->Signals.uc-data->Signals.y)+ 
		data->Par.ar*(data->Signals.u-data->Signals.v); 
	data->States.yold = data->Signals.y; 
} 
 
 
void PidReset(struct PidData *data) 
{ 
	data->States.P = 0; 
	data->States.I = 0; 
	data->States.D = 0; 
	data->States.yold = 0; 
} 
 
/*============================================ 
	no more 
=============================================*/