#include?“iostream“

using?namespace?std;

class?pid
{
public:
	float?SetSpeed;
	float?ActualSpeed;
	float?error;
	float?err_next;
	float?err_last;
	float?kp?ki?kd;
public:
	void?PID_init（）{
		SetSpeed?=?0.0;
		ActualSpeed?=?0.0;
		error?=?0.0;
		err_last?=?0.0;
		err_next?=?0.0;
		kp?=?0.1;
		ki?=?0.015;
		kd?=?0.2;
	}
}pid_pro;

float?PID_realize（float?speed）{
	pid_pro.SetSpeed?=?speed;
	pid_pro.error?=?pid_pro.SetSpeed?-?pid_pro.ActualSpeed;
	float
		incrementSpeed?=?pid_pro.kp*（pid_pro.error?-?pid_pro.err_next）?+?pid_pro.ki*pid_pro.error?+?pid_pro.kd*（pid_pro.error?-?2?*?pid_pro.err_next?+?pid_pro.err_last）;
	pid_pro.ActualSpeed?+=?incrementSpeed;
	pid_pro.err_last?=?pid_pro.err_next;
	pid_pro.err_next?=?pid_pro.error;
	return?pid_pro.ActualSpeed;
}

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????62976??2017-07-30?22:02??PID\Debug\PID.exe

?????文件?????526584??2017-07-30?22:02??PID\Debug\PID.ilk

?????文件?????896000??2017-07-30?22:02??PID\Debug\PID.pdb

?????文件???????1661??2017-07-30?22:02??PID\PID\Debug\PID.log

?????文件?????139266??2017-07-30?22:02??PID\PID\Debug\pid.obj

?????文件????????594??2017-07-30?22:02??PID\PID\Debug\PID.tlog\cl.command.1.tlog

?????文件??????12176??2017-07-30?22:02??PID\PID\Debug\PID.tlog\CL.read.1.tlog

?????文件????????392??2017-07-30?22:02??PID\PID\Debug\PID.tlog\CL.write.1.tlog

?????文件???????1062??2017-07-30?22:02??PID\PID\Debug\PID.tlog\link.command.1.tlog

?????文件???????2520??2017-07-30?22:02??PID\PID\Debug\PID.tlog\link.read.1.tlog

?????文件????????372??2017-07-30?22:02??PID\PID\Debug\PID.tlog\link.write.1.tlog

?????文件????????163??2017-07-30?22:02??PID\PID\Debug\PID.tlog\PID.lastbuildstate

?????文件?????257024??2017-07-30?22:02??PID\PID\Debug\vc120.idb

?????文件?????339968??2017-07-30?22:02??PID\PID\Debug\vc120.pdb

?????文件????????978??2017-07-30?22:37??PID\PID\pid.cpp

?????文件???????4013??2017-07-30?21:54??PID\PID\PID.vcxproj

?????文件????????944??2017-07-30?21:54??PID\PID\PID.vcxproj.filters

?????文件????7208960??2017-07-30?22:37??PID\PID.sdf

?????文件????????955??2017-07-30?21:33??PID\PID.sln

????..A..H.?????16384??2017-07-30?22:37??PID\PID.v12.suo

?????目錄??????????0??2017-07-30?22:02??PID\PID\Debug\PID.tlog

?????目錄??????????0??2017-07-30?22:02??PID\PID\Debug

?????目錄??????????0??2017-07-30?21:54??PID\Debug

?????目錄??????????0??2017-07-30?22:37??PID\PID

?????目錄??????????0??2017-07-30?22:37??PID

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

??????????????9472992????????????????????25