[C/C++]PID增量式、位置式实现代码

#ifndef __PID_base_HPP
#define __PID_base_HPP

#ifdef __cplusplus
extern "C" {
#endif

class pid_base{//pid方法基类
protected:
  float total_out;//总输出
  float max_total_out;//PID最大输出限制

  void Limit(float *value, float maxValue);//限幅

public:
  pid_base();
  virtual ~pid_base();

  float Get_total_out(void);//获得最后一次的总输出
  
  virtual void Set_kp(float kp);//设置kp
  virtual void Set_ki(float ki);//设置ki
  virtual void Set_kd(float kd);//设置kd
  void Set_max_total_out(float max_total_out);//设置最大输出值
  virtual float Calculate(float new_data) = 0;//计算并输出
  
};

#ifdef __cplusplus
}
#endif

#endif 

#include "pid_base.hpp"

void pid_base::Limit(float *value, float maxValue){
  if (*value>0 && *value>maxValue){
    *value = maxValue;

  } else if (*value<0 && *value<-maxValue) {
    *value = -maxValue;
  }
}

float pid_base::Get_total_out(){
  return total_out;
}

void pid_base::Set_max_total_out(float max_total_out){
  this->max_total_out = max_total_out;
}

#ifndef __PID_INC_HPP
#define __PID_INC_HPP

#ifdef __cplusplus
extern "C" {
#endif

#include "pid_base.hpp"

class pid_inc : public pid_base{//增量式pid的数据
private:
  float kp;	  //比例系数
  float kd; 	//微分系数

  float p_out;	//比例输出
  float d_out;	//微分输出
    
  float lastError; //最后的误差值
  float prevError; //上次的误差值
    
public:
  pid_inc();
  virtual ~pid_inc();

  virtual void Set_kp(float kp);//设置kp
  virtual void Set_kd(float kd);//设置kd
  void Set_kp_kd(float kp, float kd);//设置kp、kd

  virtual float Calculate(float new_data);//增量式PID计算函数，返回值是pid的输出
};


#ifdef __cplusplus
}
#endif
#endif 

#include "pid_inc.hpp"

void pid_inc::Set_kp(float kp){
	this->kp=kp;
}

void pid_inc::Set_kd(float kd){
	this->kd=kd;
}

void pid_inc::Set_kp_kd(float kp, float kd){
	Set_kp(kp);
	Set_kd(kd);
}

float pid_inc::Calculate(float new_data){
	
  lastError = new_data;
  
  p_out = kp * lastError;
  
  d_out = kd * (lastError - prevError);
  
  total_out = p_out + d_out;
  
  Limit(&total_out, max_total_out);
  
  prevError = lastError;
  return total_out;
}

#ifndef __PID_POS_HPP
#define __PID_POS_HPP

#ifdef __cplusplus
extern "C" {
#endif

#include "pid_inc.hpp"

class pid_pos : public pid_base{//标准位置式pid的数据
private:
  float kp; //比例系数
  float ki; //积分系数
  float kd; //微分系数

  float p_out;  //比例输出
  float d_out;  //微分输出
  float i_out;  //积分输出

  float lastError;//最后的误差值
  float prevError;//上次的误差值

  float target;		//目标值
  float present;	//当前值
  float max_i_out;//积分限幅
  float i_Band;		//积分分离

public:
  pid_pos();
  virtual ~pid_pos();

  virtual void Set_kp(float kp);//设置kp
  virtual void Set_ki(float ki);//设置ki
  virtual void Set_kd(float kd);//设置kd
  void Set_kp_ki_kd(float kp, float ki, float kd);//设置kpid
  void Set_target(float target);//设置目标值
  void Set_max_i_out(float max_i_out);//设置积分限幅值
  void Set_i_Band(float i_Band);//设置积分分离值

  void Clear_i_out(void);//清积分
  virtual float Calculate(float new_data);//计算
};

#ifdef __cplusplus
}
#endif

#endif 

#include "pid_pos.hpp"

void pid_pos::Set_kp(float kp){
	this->kp = kp;
}

void pid_pos::Set_ki(float ki){
	this->ki = ki;
}

void pid_pos::Set_kd(float kd){
	this->kd = kd;
}

void pid_pos::Set_kp_ki_kd(float kp, float ki, float kd){
	Set_kp(kp);
	Set_ki(ki);
	Set_kd(kd);
}

void pid_pos::Set_target(float target){
	this->target = target;
}
void pid_pos::Set_max_i_out(float max_i_out){
	this->max_i_out = max_i_out;
}
void pid_pos::Set_i_Band(float i_Band){
	this->i_Band = i_Band;
}

void pid_pos::Clear_i_out(void){
	i_out = 0;
}

float pid_pos::Calculate(float new_data){
	
	present = new_data;
	
	lastError =target - present;
	
	p_out = kp * lastError;//比例输出
	
	if(__fabs(lastError) < i_Band){
		Limit(&i_out, max_i_out);
		i_out += ki * lastError;
	}	else {
		i_out = 0;
	}
  
  d_out = kd * (lastError - prevError);
  
  total_out = p_out + i_out + d_out;
  
  Limit(&total_out, max_total_out);
  
  prevError = lastError;
  return total_out;
}