pid

【#文档大全网# 导语】以下是®文档大全网的小编为您整理的《pid》，欢迎阅读！

error = Set_Speed - PulseAccN;

if(error < Speed_Shift && error > -Speed_Shift) {

if(Bang_bang_Flag) {

SpeedPID.vi_PreError = 0; SpeedPID.vi_PreDerror = 0; // SpeedPID.SumError = 0; }

Speed_ADJ(Set_Speed); Bang_bang_Flag = 0; } else {

Bang_bang_Flag = 1; Bang_bang(Set_Speed); }

/*Speed_ADJ(Set_Speed);*/ }

陈泽恒 2011/4/20 13:19:43

这是bangbang的控制语句~Speed_Shift就是阈值~


陈泽恒 2011/4/20 13:20:19

/****************速度调节*******************/

void Speed_ADJ(word Set_Speed) {

SpeedPID.vi_Ref= Set_Speed;

Speed =PIDCalc(&SpeedPID,PulseAccN); //loss data unsolvable

if(Speed>970) {

Speed_Control= 970; //PWMDTY3 = 0; Speed = 970; } else

Speed_Control=Speed; }

/*********************bangbang控制***************/ void Bang_bang(word Set_Speed)


{

if(PulseAccN <= Set_Speed) {

Speed_Control = 970; //PWMDTY3 = 0; } else {

Speed_Control = 5; //PWMDTY3 = 100; } }

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