using?System;
using?System.Collections.Generic;
using?System.Linq;
using?System.Text;


namespace?Increment_PID
{
????class?PIDClass
????{
????????#region?定義
????????public?float?SetSpeed;?//定義設定值
????????public?float?ActualSpeed;?//定義實際值
????????public?float?err;?//定義偏差值
????????public?float?err_next;?//定義上一個偏差值?
????????public?float?err_last;??//定義最上前的偏差值
????????public?float?Kp?Ki?Kd;?//定義比例、積分、微分系數?
????????#endregion

????????public?void?PID_init（）
????????{
????????????SetSpeed?=?0;
????????????ActualSpeed?=?0;
????????????err?=?0;
????????????err_last?=?0;
????????????err_next?=?0;
????????}

????????public?double?PID_realize（float?a）
????????{
????????????Kp?=?0.4f;
????????????Ki?=?0.53f;
????????????Kd?=?0.1f;
????????????SetSpeed?=?a;
????????????err?=?SetSpeed?-?ActualSpeed;
????????????float?incrementSpeed;
????????????incrementSpeed?=?Kp?*?（err?-?err_next?+?Ki?*?err?+?Kd?*?（err?-?2?*?err_next?+?err_last））;
????????????ActualSpeed?=?ActualSpeed?+?incrementSpeed;
????????????err_last?=?err_next;
????????????err_next?=?err;
????????????return?ActualSpeed;
????????}
????}
????class?Program
????{
????????





????????static?int?i?=?0?k?=?0;//循環用的中間變量
????????const?int?t?=?50;//產生隨機數的個數
????????static?int[]?num?=?new?int[t];//用來存儲產生的隨機數或
????????
????????static?void?Main（string[]?args）
????????{
????????????float?speed;//存儲逼近設定值的值
????????????PIDClass?pid?=?new?PIDClass（）;
????????????pid.PID_init（）;
????????????Random?r?=?new?Random（）;
????????????for?（i?=?0;?i?????????????{
????????????????num[i]?=?r.Next（-5?5）;
????????????????Console.Write（num[i]?+?“\t“）;
????????????????if?（（i?%?10）?==?0）
????????????????{
????????????????????Console.Write（““）;
????????????????}
????????????}
????????????Console.WriteLine（“****************************上面是產生的隨機數作為輸入量**********************************“）;
????????????Console.WriteLine（）;
????????????Console.WriteLine（“****************************下面是輸出值**********************************“）;

????????????DateTime?begintime?=?DateTime.Now;//用PID算法開始記下時間
????????????do
????????????{
????????????????speed?=?（float）pid.PID_realize（num[k]）;
????????????????if?（System.Math.Abs（pid.err）?>?0.0001）
????????????????????continue;
????????????????k++;
????????????????Console.Write（speed?+?“\t“）;
????????????????if?（（k?%?10）?==?0）
????????????????{
????????????????????Console.Write（““）;
????????????????}

????????????}
????????????while?（k?
????????????TimeSpan?ts?=?begintime.Subtract（DateTime.Now）;
????????????Console.WriteLine（）;
????????????Console.WriteLine（“*************PID算法總共花費的時間**********************“）;
????????????Console.WriteLine（System.Math.Abs（ts.TotalMilliseconds）?+?“ms“）;
????????????Console.ReadKey（）;
????????}
????}
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????6656??2015-07-24?16:29??增量PID\Increment?PID\bin\Debug\Increment?PID.exe

?????文件??????15872??2015-07-24?16:29??增量PID\Increment?PID\bin\Debug\Increment?PID.pdb

?????文件??????11600??2015-07-24?16:30??增量PID\Increment?PID\bin\Debug\Increment?PID.vshost.exe

?????文件???????2447??2015-07-24?15:41??增量PID\Increment?PID\Increment?PID.csproj

?????文件???????5885??2015-07-24?16:29??增量PID\Increment?PID\obj\x86\Debug\DesignTimeResolveAssemblyReferencesInput.cache

?????文件????????336??2015-07-24?16:30??增量PID\Increment?PID\obj\x86\Debug\Increment?PID.csproj.FileListAbsolute.txt

?????文件???????6656??2015-07-24?16:29??增量PID\Increment?PID\obj\x86\Debug\Increment?PID.exe

?????文件??????15872??2015-07-24?16:29??增量PID\Increment?PID\obj\x86\Debug\Increment?PID.pdb

?????文件???????3073??2015-07-24?16:29??增量PID\Increment?PID\Program.cs

?????文件???????1376??2015-07-24?15:41??增量PID\Increment?PID\Properties\AssemblyInfo.cs

?????文件????????881??2015-07-24?15:41??增量PID\Increment?PID.sln

????..A..H.?????16384??2015-07-24?20:25??增量PID\Increment?PID.suo

?????目錄??????????0??2015-07-24?15:41??增量PID\Increment?PID\obj\x86\Debug\TempPE

?????目錄??????????0??2015-07-26?10:30??增量PID\Increment?PID\obj\x86\Debug

?????目錄??????????0??2015-07-26?10:30??增量PID\Increment?PID\bin\Debug

?????目錄??????????0??2015-07-24?15:41??增量PID\Increment?PID\bin\Release

?????目錄??????????0??2015-07-26?10:30??增量PID\Increment?PID\obj\x86

?????目錄??????????0??2015-07-26?10:30??增量PID\Increment?PID\bin

?????目錄??????????0??2015-07-26?10:30??增量PID\Increment?PID\obj

?????目錄??????????0??2015-07-26?10:30??增量PID\Increment?PID\Properties

?????目錄??????????0??2015-07-26?10:30??增量PID\Increment?PID

?????目錄??????????0??2015-07-26?10:30??增量PID

-----------?---------??----------?-----??----

????????????????87038????????????????????22