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    u k µÚk ´Î²ÉÑùʱ¿ÌµÄ¼ÆËã»úÊä³öÖµ

    e k µÚk ´Î²ÉÑùʱ¿ÌÊäÈëµÄÆ«²îÖµ

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    //´´½¨±äÁ¿½á¹¹Ìå

    struct pid_type{

    float Kp; //PIµ÷½ÚµÄ±ÈÀý³£Êý

    float Ti; //PIµ÷½ÚµÄ»ý·Ö³£Êý

    float T; //²ÉÑùÖÜÆÚ

    float Ki;

    float ek; //Æ«²îe[k]

    float ek1; //Æ«²îe[k-1]

    float ek2; //Æ«²îe[k-2]

    float uk; //u[k]

    signed int uk1; //¶Ôu[k]ËÄÉáÎåÈëÈ¡Õû

    signed int adjust; //µ÷½ÚÆ÷Êä³öµ÷ÕûÁ¿

    }pid;

    //±äÁ¿³õʼ

    void Pid_Init(void)

    {

    pid.Kp=4;

    pid.Ti=0.005;

    pid.T=0.001;

    pid.Ki=0.6; //΢·ÖϵÊýKd=KpTd/T¡£¸ù¾Ýʵ¼Êµ÷½Ú

    pid.ek=0;

    pid.ek1=0;

    pid.ek2=0;

    pid.uk=0;

    pid.uk1=0;

    pid.adjust=0;

    }

    int PIDadjust(float ek) //PIµ÷½ÚËã·¨

    {

    if( gabs(ek)<0.1 )

    {

    pid.adjust=0;

    }

    else

    {

    pid.uk=pid.Kp*(pid.ek-pid.ek1)+pid.Ki*pid.ek; //¼ÆËã¿ØÖÆÔöÁ¿

    pid.ek1=pid.ek;

    pid.uk1=(signed int)pid.uk;

    if(pid.uk>0)

    {

    if(piduk-piduk1>=0.5)

    {

    pi.uk1=pid.uk1+1;

    }

    }

    if(piduk<0)

    {

    if(pid.uk1-pid.uk>=0.5)

    {

    pid.uk1=pid.uk1-1;

    }

    }

    adjust=pid.uk1;

    }

    return adjust;

    }

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    1. https://blog.csdn.net/u010312937/article/details/53363831#t3¡¶PID¿ØÖÆËã·¨µÄCÓïÑÔʵÏÖ<ÍêÕû°æ>¡·

    2. https://blog.csdn.net/qq229596421/article/details/51419813

    3. https://blog.csdn.net/msdnwolaile/article/details/51038196

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