/************  PID算法(C语言)  ************/

　　#include <stdio.h>
　　#include<math.h>
　　
　　struct _pid {
　　 int pv; /*integer that contains the process value*/
　　 int sp; /*integer that contains the set point*/
　　 float integral;
　　 float pgain;
　　 float igain;
　　 float dgain;
　　 int deadband;
　　 int last_error;
　　};
　　
　　struct _pid warm,*pid;
　　int process_point, set_point,dead_band; 
　　float p_gain, i_gain, d_gain, integral_val,new_integ;; 
　　
　　/*------------------------------------------------------------------------ 
　　pid_init 
　　
　　DESCRIPTION This function initializes the pointers in the _pid structure 
　　to the process variable and the setpoint. *pv and *sp are 
　　integer pointers. 
　　------------------------------------------------------------------------*/ 
　　void pid_init(struct _pid *warm, int process_point, int set_point)
　　{ 
　　 struct _pid *pid; 
　　 
　　 pid = warm; 
　　 pid->pv = process_point; 
　　 pid->sp = set_point; 
　　} 
　　
　　/*------------------------------------------------------------------------ 
　　pid_tune 
　　
　　DESCRIPTION Sets the proportional gain (p_gain), integral gain (i_gain), 
　　derivitive gain (d_gain), and the dead band (dead_band) of 
　　a pid control structure _pid. 
　　------------------------------------------------------------------------*/ 
　　
　　void pid_tune(struct _pid *pid, float p_gain, float i_gain, float d_gain, int dead_band) 
　　{ 
　　 pid->pgain = p_gain; 
　　 pid->igain = i_gain; 
　　 pid->dgain = d_gain; 
　　 pid->deadband = dead_band; 
　　 pid->integral= integral_val; 
　　 pid->last_error=0; 
　　} 
　　
　　/*------------------------------------------------------------------------ 
　　pid_setinteg 
　　
　　DESCRIPTION Set a new value for the integral term of the pid equation. 
　　This is useful for setting the initial output of the 
　　pid controller at start up. 
　　------------------------------------------------------------------------*/ 
　　void pid_setinteg(struct _pid *pid,float new_integ)
　　{ 
　　 pid->integral = new_integ; 
　　 pid->last_error = 0; 
　　} 
　　
　　/*------------------------------------------------------------------------ 
　　pid_bumpless 
　　
　　DESCRIPTION Bumpless transfer algorithim. When suddenly changing 
　　setpoints, or when restarting the PID equation after an 
　　extended pause, the derivative of the equation can cause 
　　a bump in the controller output. This function will help 
　　smooth out that bump. The process value in *pv should 
　　be the updated just before this function is used. 
　　------------------------------------------------------------------------*/ 
　　void pid_bumpless(struct _pid *pid) 
　　{ 
　　 pid->last_error = (pid->sp)-(pid->pv); 
　　} 
　　
　　/*------------------------------------------------------------------------ 
　　pid_calc 
　　
　　DESCRIPTION Performs PID calculations for the _pid structure *a. This function uses the positional form of the pid equation, and incorporates an integral windup prevention algorithim. Rectangular integration is used, so this function must be repeated on a consistent time basis for accurate control. 
　　
　　RETURN VALUE The new output value for the pid loop. 

　　USAGE #include "control.h"
　　------------------------------------------------------------------------*/ 
　　
　　float pid_calc(struct _pid *pid)
　　{ 
　　 int err;
　　 float pterm, dterm, result, ferror; 
　　 
　　 err = (pid->sp) - (pid->pv); 
　　 if (abs(err) > pid->deadband) 
　　 { 
　　 ferror = (float) err; /*do integer to float conversion only once*/ 
　　 pterm = pid->pgain * ferror; 
　　 if (pterm > 100 || pterm < -100)
　　 {
　　 pid->integral = 0.0; 
　　 }
　　 else 
　　 { 
　　 pid->integral += pid->igain * ferror; 
　　 if (pid->integral > 100.0) 
　　 {
　　 pid->integral = 100.0; 
　　 }
　　 else if (pid->integral < 0.0) pid->integral = 0.0; 
　　 } 
　　 dterm = ((float)(err - pid->last_error)) * pid->dgain; 
　　 result = pterm + pid->integral + dterm; 
　　 } 
　　 else result = pid->integral; 
　　 pid->last_error = err; 
　　 return (result); 
　　}
　　
　　void main(void)
　　{
　　 float display_value;
　　 int count=0;
　　
　　 pid = &warm;
　　
　　// printf("Enter the values of Process point, Set point, P gain, I gain, D gain \n");
　　// scanf("%d%d%f%f%f", &process_point, &set_point, &p_gain, &i_gain, &d_gain);

　　 process_point = 30;
　　 set_point = 40;
　　 p_gain = (float)(5.2);
　　 i_gain = (float)(0.77);
　　 d_gain = (float)(0.18);
　　
　　 dead_band = 2;
　　 integral_val =(float)(0.01);
　　
　　 printf("The values of Process point, Set point, P gain, I gain, D gain \n");
　　 printf(" %6d %6d %4f %4f %4f\n", process_point, set_point, p_gain, i_gain, d_gain);
　　
　　 printf("Enter the values of Process point\n");
　　
　　 while(count<=20)
　　 {
　　 scanf("%d",&process_point);
　　
　　 pid_init(&warm, process_point, set_point);
　　 pid_tune(&warm, p_gain,i_gain,d_gain,dead_band);
　　 pid_setinteg(&warm,0.0); //pid_setinteg(&warm,30.0);
　　
　　 //Get input value for process point
　　 pid_bumpless(&warm);
　　
　　 // how to display output
　　 display_value = http://www.mamicode.com/pid_calc(&warm); 
　　 printf("%f\n", display_value); 
　　 //printf("\n%f%f%f%f",warm.pv,warm.sp,warm.igain,warm.dgain); 
　　 count++; 
　　 } 
　　}