#include?

typedef?struct?_PIDS{
????//輸入
?????float?Set0;??//set
?????float?Set_b1;??//set-1
?????float?Set_b2;??//set-2
?????float?Get0;??//get
?????float?Get_b1;??//get-1
?????float?Get_b2;??//get-2
?????//輸出
?????float?Sumput;
?????float?ek0;??//ek
?????float?ek_b1;??//ek-1
?????float?ek_b2;??//ek-2
?????float?Kp;
?????float?Ki;
?????float?Kd;

?????float?Uk;
?????float?Uk_b1;
?????float?euk0;
?????float?euk_b1;
}PIDS;
PIDS?mpid;

void?init_pid（void）{
????//初始化輸入輸出
????mpid.Set0=0;
????mpid.Set_b1=0;
????mpid.Set_b2=0;

????mpid.Get0=0;
????mpid.Get_b1=0;
????mpid.Get_b2=0;

????mpid.Sumput=0;

????mpid.ek0=0;
????mpid.ek_b1=0;
????mpid.ek_b2=0;
????mpid.Uk=0;
????mpid.Uk_b1=0;
????//初始化pid系數
????mpid.Kp=0.001;
????mpid.Ki=0.01;
????mpid.Kd=0.02;
}
//位置式
float?get_uk（void）{
???mpid.ek0?=?mpid.Get0?-?mpid.Set0?;
???mpid.ek_b1?=?mpid.Get_b1?-?mpid.Set_b1?;
???mpid.ek_b2?=?mpid.Get_b2?-?mpid.Set_b2?;

???mpid.Sumput?+=?mpid.ek0;

???mpid.Uk_b1?=??mpid.Uk;
???mpid.euk_b1?=?mpid.euk0;
???mpid.Uk?=?（float）（mpid.Kp?*?mpid.ek0+?mpid.Ki?*?mpid.Sumput+mpid.Kd*（mpid.ek0?-?mpid.ek_b1））;
??//?mpid.Uk?=?（float）（mpid.Kp?*?mpid.ek0?+?mpid.Kd*（mpid.ek0?-?mpid.ek_b1））;
???mpid.euk0?=?mpid.Uk?-?mpid.Uk_b1;

???mpid.Get_b2?=?mpid.Get_b1;
???mpid.Get_b1?=?mpid.Get0;

???mpid.Set_b2?=?mpid.Set_b1;
???mpid.Set_b1?=?mpid.Set0;

???return?mpid.euk0;
??//?return??mpid.Uk;
}


int?main（int?argc?char?*argv[]）
{
????float?ij;
????float?ggk;

????init_pid（）;

????//超量模擬
????for（j?=299?;j?>40;j--）{
????????mpid.Set0?=j;
????????printf（“jded\n“）;
????????while（1）{
????????????????ggk?=?get_uk（）;
???????????????if（ggk<-0.001）{
???????????????????mpid.Get0+=0.1;
??????????????????//?printf（“j:%fmpid.Get0:%fm:%f\n“jmpid.Get0ggk）;

???????????????}else?if（ggk>0.001）{
???????????????????mpid.Get0-=0.1;
?????????????????//??printf（“j:%fmpid.Get0:%fm:%f\n“jmpid.Get0ggk）;
???????????????}else{
?????????????????//?????printf（“j:%fmpid.Get0:%fm:%f\n“jmpid.Get0ggk）;
???????????????????break;
???????????????}


?????}
???}

????//欠量模擬
????for（j?=40?;j?????????mpid.Set0?=j;
????????printf（“jded\n“）;
????????while（1）{
????????????????ggk?=?get_uk（）;
???????????????if（ggk<-0.001）{
???????????????????mpid.Get0+=0.1;
??????????????????//?printf（“j2:%fmpid.Get0:%fm:%f\n“jmpid.Get0ggk）;

???????????????}else?if（ggk>0.001）{
???????????????????mpid.Get0-=0.1;
??????????????????//?printf（“j2:%fmpid.Get0:%fm:%f\n“jmpid.Get0ggk）;
???????????????}else{
??????????????????????printf（“j2:%fmpid.Get0:%fm:%f\n“jmpid.Get0ggk）;
???????????????????break;
???????????????}


?????}
???}

????return?0;
}

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

?????文件????????726??2017-09-18?09:18??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug\.qmake.stash

?????文件???????4491??2017-09-18?18:49??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug\debug\main.o

?????文件??????49374??2017-09-18?18:49??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug\debug\testpid.exe

?????文件??????23093??2017-09-18?09:18??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug\Makefile

?????文件??????12619??2017-09-18?09:18??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug\Makefile.Debug

?????文件??????12650??2017-09-18?09:18??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug\Makefile.Release

?????文件???????2821??2017-09-18?18:49??qt_testpid\testpid\main.c

?????文件?????????92??2017-09-18?09:18??qt_testpid\testpid\testpid.pro

?????文件??????23832??2017-09-18?18:50??qt_testpid\testpid\testpid.pro.user

?????目錄??????????0??2017-09-18?18:49??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug\debug

?????目錄??????????0??2017-09-18?09:18??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug\release

?????目錄??????????0??2017-09-18?09:18??qt_testpid\build-testpid-Desktop_Qt_5_7_0_MinGW_32bit-Debug

?????目錄??????????0??2017-09-18?18:50??qt_testpid\testpid

?????目錄??????????0??2017-09-18?09:18??qt_testpid

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

???????????????129698????????????????????14