#include "rtthread.h"
#ifdef FRYER_TEMP_PID //PID控温
#include "pid.h"
#include "string.h"
#define DBG_TAG "app.pid"
#define DBG_LVL DBG_INFO
#include <rtdbg.h>
/**
* PID运算.
* U(k)+KP*[E(k)-E(k-1)]+KI*E(k)+KD*[E(k)-2E(k-1)+E(k-2)].
* @param[in] 无
* @param[out] 无
* @retval 无
* @par 标识符
* 保留
* @par 其它
* 无
* @par 修改日志
* kun于2021-08-16创建
*/
void pid_operation(pid_value_t *pid_ptr)
{
if( pid_ptr->iSetVal > pid_ptr->iCurVal ){ //设定值大于实际值否
if( pid_ptr->iSetVal - pid_ptr->iCurVal > 30 ){
pid_ptr->iPriVal = 100; //偏差大于20为上限幅值全输出（全速加热）
}
else{ //否则慢慢来
pid_ptr->Temp[0] = pid_ptr->iSetVal - pid_ptr->iCurVal; //偏差<=20,计算E(k)
pid_ptr->uEkFlag[1] = 0; //E(k)为正数，因为设定值大于实际值
//数值进行移位
pid_ptr->liEkVal[2] = pid_ptr->liEkVal[1];
pid_ptr->liEkVal[1] = pid_ptr->liEkVal[0];
pid_ptr->liEkVal[0] = pid_ptr->Temp[0];
/*==================================*/
if( pid_ptr->liEkVal[0] > pid_ptr->liEkVal[1] ){
pid_ptr->Temp[0] = pid_ptr->liEkVal[0] - pid_ptr->liEkVal[1];
pid_ptr->uEkFlag[0] = 0;
}
else{
pid_ptr->Temp[0] = pid_ptr->liEkVal[1] - pid_ptr->liEkVal[0];
pid_ptr->uEkFlag[0] = 1;
}
/*==================================*/
pid_ptr->Temp[2] = pid_ptr->liEkVal[1]*2;
if( (pid_ptr->liEkVal[0] + pid_ptr->liEkVal[2]) > pid_ptr->Temp[2] ){
pid_ptr->Temp[2] = (pid_ptr->liEkVal[0] + pid_ptr->liEkVal[2]) - pid_ptr->Temp[2];
pid_ptr->uEkFlag[2] = 0;
}
else{
pid_ptr->Temp[2] = pid_ptr->Temp[2] - (pid_ptr->liEkVal[0] + pid_ptr->liEkVal[2]);
pid_ptr->uEkFlag[2] = 1;
}
pid_ptr->Temp[0] = (uint32_t)(pid_ptr->uKP_Coe*pid_ptr->Temp[0]); //KP*[E(k)-E(k-1)]
pid_ptr->Temp[1] = (uint32_t)(pid_ptr->uKI_Coe*pid_ptr->liEkVal[0]); //KI*E(k)
// pid_ptr->Temp[1] = (uint32_t)(0.5*pid_ptr->liEkVal[0]); //KI*E(k)
pid_ptr->Temp[2] = (uint32_t)(pid_ptr->uKD_Coe*pid_ptr->Temp[2]); //KD*[E(k-2)+E(k)-2E(k-1)]
/*===========计算KP*[E(k)-E(k-1)]的值=============*/
if( pid_ptr->uEkFlag[0] == 0 )
pid_ptr->PostSum += pid_ptr->Temp[0];
else
pid_ptr->NegSum += pid_ptr->Temp[0];
/*===========计算KI*E(k)==========================*/
if( pid_ptr->uEkFlag[1]==0 )
pid_ptr->PostSum += pid_ptr->Temp[1];
else{
}
/*===========计算KD*[E(k-2)+E(k)-2E(k-1)]的值======*/
if( pid_ptr->uEkFlag[2]==0 )
pid_ptr->PostSum += pid_ptr->Temp[2];
else
pid_ptr->NegSum += pid_ptr->Temp[2];
/*============计算U(k)================*/
if( pid_ptr->PostSum > pid_ptr->NegSum ){
pid_ptr->Temp[0] = pid_ptr->PostSum - pid_ptr->NegSum;
if( pid_ptr->Temp[0] < 100 ) //小于上限幅值为计算输出
pid_ptr->iPriVal = (uint16_t)pid_ptr->Temp[0];
else
pid_ptr->iPriVal = 100; //否则上限幅值输出
}
else //控制量输出为负数，则输出0（下限幅值输出）
pid_ptr->iPriVal = 0;
}
}
else{
pid_ptr->iPriVal = 0;
pid_ptr->NegSum = 0;
pid_ptr->PostSum = 0;
pid_ptr->liEkVal[0] = 0;
pid_ptr->liEkVal[1] = 0;
pid_ptr->liEkVal[2] = 0;
pid_ptr->Temp[0] = 0;
pid_ptr->Temp[1] = 0;
pid_ptr->Temp[2] = 0;
}
}
void pid_set_target(pid_value_t *pid_ptr, uint16_t target)
{
pid_ptr->iSetVal = target;
}
uint16_t pid_get_ctrl(pid_value_t *pid_ptr)
{
return pid_ptr->iPriVal;
}
void pid_set_current(pid_value_t *pid_ptr,uint16_t value)
{
pid_ptr->iCurVal = value;
}
void pid_var_rst(pid_value_t *pid_ptr)
{
pid_ptr->NegSum = 0;
pid_ptr->PostSum = 0;
pid_ptr->liEkVal[0] = 0;
pid_ptr->liEkVal[1] = 0;
pid_ptr->liEkVal[2] = 0;
pid_ptr->Temp[0] = 0;
pid_ptr->Temp[1] = 0;
pid_ptr->Temp[2] = 0;
}
void pid_set(pid_value_t *pid_ptr,float p,float i, float d)
{
pid_ptr->uKP_Coe = p;
pid_ptr->uKI_Coe = i;
pid_ptr->uKD_Coe = d;
}
void pid_init(pid_value_t *pid_ptr,float p,float i, float d)
{
rt_memset(pid_ptr,0,sizeof(pid_value_t));
pid_ptr->uKP_Coe = p;
pid_ptr->uKI_Coe = i;
pid_ptr->uKD_Coe = d;
}
#endif
typedef struct PID
{
float P,I,D,limit;
}PID;
typedef struct Error
{
float Current_Error;//当前误差
float Last_Error;//上一次误差
float Previous_Error;//上上次误差
}Error;
/**
* 位置式PID.
* U(k)+KP*[E(k)-E(k-1)]+KI*E(k)+KD*[E(k)-2E(k-1)+E(k-2)].
* @param[in] sptr ：误差参数，pid: PID参数，NowPlace：当前位置，Point：预期位置
* @param[out] 无
* @retval 输出控制值
* @par 标识符
* 保留
* @par 其它
* 无
* @par 修改日志
* kun于2022-01-14创建
*/
int32_t pid_realize(Error *sptr,PID *pid, int32_t now_place, int32_t point)
{
int32_t iError, // 当前误差
Realize;//实际输出
iError = point - now_place; // 计算当前误差
sptr->Current_Error += pid->I * iError; // 误差积分
sptr->Current_Error = sptr->Current_Error > pid->limit ? pid->limit:sptr->Current_Error;//积分限幅
sptr->Current_Error = sptr->Current_Error < -pid->limit? -pid->limit:sptr->Current_Error;
Realize = pid->P * iError//比例P
+ sptr->Current_Error//积分I
+ pid->D * (iError - sptr->Last_Error);//微分D
sptr->Last_Error = iError;// 更新上次误差
return Realize; // 返回实际值
}
/**
* 增量式PID.
* U(k)+KP*[E(k)-E(k-1)]+KI*E(k)+KD*[E(k)-2E(k-1)+E(k-2)].
* @param[in] sptr ：误差参数，pid: PID参数，NowPlace：当前位置，Point：预期位置
* @param[out] 无
* @retval 输出控制值
* @par 标识符
* 保留
* @par 其它
* 无
* @par 修改日志
* kun于2022-01-14创建
*/
int32_t pid_increase(Error *sptr, PID *pid, int32_t now_place, int32_t point)
{
int32_t iError, //当前误差
Increase; //最后得出的实际增量
iError = point - now_place; // 计算当前误差
Increase = pid->P * (iError - sptr->Last_Error)//比例P
+ pid->I * iError //积分I
+ pid->D * (iError - 2 * sptr->Last_Error + sptr->Previous_Error); //微分D
sptr->Previous_Error = sptr->Last_Error; // 更新前次误差
sptr->Last_Error = iError; // 更新上次误差
return Increase; // 返回增量
}
pid_set_current( &fryer_ptr->pid,fryer_ptr->temp ); //设置目标温度
pid_operation( &fryer_ptr->pid ); //PID计算
ctrl = pid_get_ctrl(&fryer_ptr->pid); //获取控制输出值百分比
ctrl为百分比输出值，用于控制大功率设置不能频率启动与停止，设置为10秒一个控制周期文章来源地址https://uudwc.com/A/MxR5g
文章来源：https://uudwc.com/A/MxR5g
