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PID控制算法位置型公式ukKperrkTTi∑errjTdTerrkerrk1TTi即为KiTdT即为Kdi
cludeiostreami
cludestdiohusi
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amespacestdstructfloatset
umfloatactual
umfloaterrfloatlasterrfloatkpkikdfloatco
trolmachi
efloatsumerrpidvoidPIDpidset
um00pidactual
um00piderr00pidlasterr00pidco
trolmachi
e00pidsumerr00pidkp02pidki0015pidkd02floatrealizepidfloat
umpidset
um
umpiderrpidset
umpidactual
umpidsumerrpiderrpidco
trolmachi
epidkppiderrpidkipidsumerrpidkdpiderrpidlasterrpidlasterrpiderrpidactual
umpidco
trolmachi
e10retur
pidactual
umi
tmai
PIDi
tcou
t0whilecou
t1000
ffloat
um
umrealizepid2000pri
tf
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