#include  

#include  

typedef   struct   PID   {                           /*K1=实际放大倍数,T1=实际积分时间,T2=实际微分时 

间,T=采样周期*/ 

        double     SetPoint;           /*定义PID结构体*/       

        double     K1; 

        double     T1;                                 

        double     T2; 

                double     T; 

                double     Err1;               /*前一时刻误差,E(K-1)*/       

}   PID; 

double   PIDCalc(   PID   *pp,   double   NextPoint,double   Ud1,double   Ui1)     /*PID计算 

*/         

{ 

      double   Ti,Td,Kp,Ki,Kd,Ud,Up,Ui,Err;                 

        Ti   =   pp-> T1   +   pp-> T2;                                                       /*积分时间*/   

        Td   =   (pp-> T1   *   pp-> T2)   /   (pp-> T1   +   pp-> T2);           /*微分时间*/   

        Kp   =   pp-> K1   *   ((pp-> T1   +   pp-> T2)   /   pp-> T1);             /*比例系数*/   

        Ki   =pp-> T   /   Ti   *   Kp;                                                           /*积分系数*/   

        Kd   =   Td   /   pp-> T   *   Kp;                                                         /*微分系数*/       

          Err   =   pp-> SetPoint-NextPoint;                                         /*当前误差*/   

        Ud   =   pp->T2/  ((Kd   *   pp-> T) +   pp-> T2)   *   Ud1+   Kd   *   (pp-> T2   +   pp-> T)   /   (Kd   *  

pp-> T   +   pp-> T2)   *   Err   -   Kd   *   pp-> T2   /   (Kd   *   pp-> T   +   pp-> T2)   *pp-> Err1;       /*微分 

作用*/ 

        Ui   =   Ui1   +   pp-> K1   *   (pp-> T   /   pp-> T1)   *   Ud;                   /*积分作用*/           

        Up   =   pp-> K1   *   Ud;                                                                     /*比例作用*/   

        Ud1=Ud;                                                                                     /*UD1=ud(k-1),ui1=ui(k-1) 

*/   

        Ui1=Ui; 

return   (Ud   +   Up   +   Ui);                                                               /*y(k)*/ 

} 

void   PIDInit   (PID   *pp) 

{ 

        memset   (   pp,0,sizeof(PID));                                       

} 

/*double   sensor   (void)                                                                             

{ 

        return   1.0; 

}*/                                                                                                         /*输入口*/   

void   actuator(double   rDelta,double   LastrDelta   )                           /*输出口*/   

{ 

    double   n;                                                                                                 

    n=rDelta-LastrDelta;                                                                       /*y(k)-y(k-1)*/   

    LastrDelta=rDelta;                                                                   

    printf   ( "%f\\n ",n); 

    } 

void   main(void)                                                 

{ 

  int   j,a[]= 

{15,14,12.5,10.5,5.5,6.7,9.5,11.3,9.6,10.2,10.035,9.2356,10.2356,9.3654,10.01101 

}; 

        PID                   sPID; 

        double             rOut; 

        double             LastrOut=0;                                                           /*y(k-1)*/   

        double             rIn; 

        double               Ud1   =   1; 

        double               Ui1   =   1; 

        PIDInit   (   &sPID   );                                                                         /*PID初始化*/   

        sPID.K1   =   1; 

        sPID.T1   =   1; 

        sPID.T2   =   1; 

        sPID.T     =   1; 

        sPID.SetPoint   =   10.0;                                                                       /*设定值*/   

        sPID.Err1   =   1; 

        for   (j=0;j <15;j++)

          { 

        rIn   =   a[j];     /*sensor   ();*/                                           /*输入*/   

        rOut=   PIDCalc   (   &sPID,rIn,Ud1,Ui1   );                                   

        actuator   (   rOut,   LastrOut   );                       

  } 

}_

这应该是个仿真程序. 

sensor原来是个输入函数,后来注释掉了,用数组代替了. 

actuator输出函数,这里现示跟踪情况. 

j,是15个点的循环变量. 

a[j],是个模拟的输入.

语句:return   1.0;  变量:rDelta   LastrDelta   

    语句:n=rDelta-LastrDelta;   LastrDelta=rDelta; printf   ( "%f\\n ",n);又分别如何解释呢,新手上路,多指教.^_^下载本文