131 lines
3.4 KiB
C
131 lines
3.4 KiB
C
#include "app_config.h"
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#include "app_pid.h"
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// PID控制器初始化
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void initializePid(PID_t *pid, pid_mode_t mode, float dtMin)
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{
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pid->mode = mode;
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pid->dt_min = dtMin > SIGMA ? dtMin : SIGMA;
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pid->kp = 0.0f;
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pid->ki = 0.0f;
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pid->kd = 0.0f;
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pid->integral = 0.0f;
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pid->integral_limit = 0.0f;
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pid->output_limit = 0.0f;
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pid->error_previous = 0.0f;
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pid->last_output = 0.0f;
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}
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// 设置PID参数
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int32_t setPidParameters(PID_t *pid, float kp, float ki, float kd, float integralLimit, float outputLimit)
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{
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int32_t ret = 0;
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if (isfinite(kp)) {
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pid->kp = kp;
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} else {
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ret = -1;
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}
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if (isfinite(ki)) {
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pid->ki = ki;
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} else {
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ret = -2;
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}
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if (isfinite(kd)) {
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pid->kd = kd;
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} else {
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ret = -3;
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}
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if (isfinite(integralLimit)) {
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pid->integral_limit = integralLimit;
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} else {
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ret = -4;
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}
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if (isfinite(outputLimit)) {
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pid->output_limit = outputLimit;
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} else {
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ret = -5;
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}
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return ret;
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}
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/**
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* @brief 计算PID控制器的输出
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*
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* @param pid 指向PID_t结构体的指针，包含PID控制器的状态和参数
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* @param sp 设定值(Setpoint)，期望系统达到的目标值
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* @param val 当前值(Current Value)，系统的实际测量值
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* @param val_dot 当前值的导数(Derivative of Current Value)，即测量值的变化率（用于微分项计算）
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* @param dt 时间增量(Time Increment)，两次调用之间的时间间隔，用于计算积分和微分
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*
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* @return float 返回PID控制器计算出的输出值
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*/
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float calculatePidOutput(PID_t *pid, float sp, float val, float val_dot, float dt)
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{
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// 检查输入参数的有效性
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if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt) || dt < pid->dt_min) {
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return pid->last_output;
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}
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// 计算误差
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float error = sp - val;
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// 根据模式计算微分项
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float derivative = 0.0f;
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switch (pid->mode) {
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case PID_MODE_DERIVATIVE_CALC:
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derivative = (error - pid->error_previous) / dt;
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pid->error_previous = error;
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break;
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case PID_MODE_DERIVATIVE_CALC_NO_SP:
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derivative = (-val - pid->error_previous) / dt;
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pid->error_previous = -val;
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break;
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case PID_MODE_DERIVATIVE_SET:
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derivative = -val_dot;
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break;
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default:
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derivative = 0.0f;
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break;
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}
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// 计算比例和微分项的输出
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float output = (pid->kp * error) + (pid->kd * derivative);
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// 计算积分项，并检查积分饱和
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if (pid->ki > SIGMA) {
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pid->integral += error * dt;
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if (pid->integral > pid->integral_limit) {
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pid->integral = pid->integral_limit;
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} else if (pid->integral < -pid->integral_limit) {
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pid->integral = -pid->integral_limit;
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}
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output += pid->ki * pid->integral;
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}
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// 限制输出范围
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if (output > pid->output_limit) {
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output = pid->output_limit;
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} else if (output < -pid->output_limit) {
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output = -pid->output_limit;
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}
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pid->last_output = output;
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return output;
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}
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// 重置积分器
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void resetPidIntegral(PID_t *pid)
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{
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pid->integral = 0.0f;
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}
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