int8_t IncPIDCalc(void) { int pError, iError, dError; //当前误差 float Incpid; //增量 iError = sPID.SetPoint - sPID.CurrentTemp; //E[n]项 pError = iError - sPID.LastError; //E[n] - E[n-1]项 dError = pError - (sPID.LastError - sPID.PrevError); //(E[n] - E[n-1]) - (E[n-1] - E[n-2])项 //存储误差，用于下次计算 sPID.PrevError = sPID.LastError; //E[n－2]项 sPID.LastError = iError; //E[n－1]项 Incpid = (float)(sPID.Proportion * pError // + sPID.Integral * iError + sPID.Derivative * dError); sPID.Result += Incpid; if(sPID.Result < 0) { sPID.Result = 0; } else if(sPID.Result > 100) { sPID.Result = 100; } return (int8_t)sPID.Result; //返回PID值 }
欢迎入坑 部分是有中文的，自己好好找找 https://www.stmcu.org.cn/document/list/index/category-466
