算法大作业提交

C_PID/Nxersty/PID.c

@@ -0,0 +1,61 @@
+#include "PID.h"
+#include <stdlib.h> 
+int PID_Init(PID *pid, float kp, float ki, float kd, float target) {
+    if (pid == NULL) return -1; // 检查PID结构体是否为空
+
+    // 初始化PID结构体参数
+    pid->kp = kp;
+    pid->ki = ki;
+    pid->kd = kd;
+    pid->target = target;
+    pid->error_sum = 0;
+    pid->last_error = 0;
+
+    return 0;
+}
+
+int PID_SetParameters(PID *pid, float kp, float ki, float kd) {
+    if (pid == NULL) return -1;
+
+    // 设置PID结构体参数
+    pid->kp = kp;
+    pid->ki = ki;
+    pid->kd = kd;
+
+    return 0;
+}
+
+float PID_PositionalPID(PID *pid, float current_value) {
+    if (pid == NULL) return 0;
+
+    // 计算误差项
+    float error = pid->target - current_value;
+
+    // 计算比例项、积分项、微分项
+    float p_term = pid->kp * error;
+    pid->error_sum += error;
+    float i_term = pid->ki * pid->error_sum;
+    float d_term = pid->kd * (error - pid->last_error);
+
+    pid->last_error = error;
+
+    // 计算PID输出
+    float output = p_term + i_term + d_term;
+
+    return output;
+}
+
+float PID_IncrementalPID(PID *pid, float current_value) {
+    if (pid == NULL) return 0; 
+
+    // 计算误差项
+    float error = pid->target - current_value;
+
+    // 计算增量式PID输出
+    float output = pid->kp * (error - pid->last_error) + pid->ki * error + pid->kd * (error - 2 * pid->last_error + pid->error_sum);
+
+    pid->last_error = error;
+    pid->error_sum += error;
+
+    return output;
+}

C_PID/Nxersty/PID.h

@@ -0,0 +1,18 @@
+#ifndef PID_H
+#define PID_H
+
+typedef struct {
+    float kp;
+    float ki; 
+    float kd; 
+    float target; 
+    float error_sum; 
+    float last_error; 
+} PID;
+
+int PID_Init(PID *pid, float kp, float ki, float kd, float target);
+int PID_SetParameters(PID *pid, float kp, float ki, float kd);
+float PID_PositionalPID(PID *pid, float current_value);
+float PID_IncrementalPID(PID *pid, float current_value);
+
+#endifm

C_PID/Nxersty/main.c

@@ -0,0 +1,45 @@
+#include<stdio.h>
+#include "pid.h"
+int main()
+{
+    float kp, ki, kd;
+    printf("输入本次使用的PID参数\n");
+    printf("KP:");
+    scanf("%lf",&kp);
+    printf("KI:");
+    scanf("%lf",&ki);
+    printf("KD:");
+    scanf("%lf",&kd);
+
+    PID my_pid;
+    float current_value; 
+    float target;
+    printf("请输入目标值:"); // 预期的值
+    scanf("%lf",&target);
+    printf("请输入当前值:"); // 目前的值
+    scanf("%lf",&current_value);
+
+    float pos_err,inc_err;
+    printf("普通位置式pid         普通增量式pid\n");
+    printf("误差表:\n");
+
+    // 初始化PID结构体
+    PID_Init(&my_pid, kp, ki, kd, target);
+    PID_SetParameters(&my_pid, kp, ki, kd);
+
+
+    // 模拟执行PID控制器
+    for (int i = 0; i < 10; ++i) {
+        current_value += 5; // 模拟当前值增加
+
+        // 位置式PID控制
+        float pos_pid_output = PID_PositionalPID(&my_pid, current_value);
+        // 增量式PID控制
+        float inc_pid_output = PID_IncrementalPID(&my_pid, current_value);
+
+        printf("E:%.2f         E:%.2f\n",pos_pid_output,inc_pid_output);
+
+    }
+
+    return 0;
+}