防积分饱和.doc

typedefstruct _iq Ref; / Input: Reference input _iq Fdb; / Input: Feedback input _iq Err; / Variable: Error _iq Kp; / Parameter: Proportional gain _iq Up; / Variable: Proportional output _iq Ui; / Variable: Integral output _iq Ud; / Variable: Derivative output _iq OutPreSat; / Variable: Pre-saturated output _iq OutMax; / Parameter: Maximum output _iq OutMin; / Parameter: Minimum output _iq Out; / Output: PID output _iq SatErr; / Variable: Saturated difference _iq Ki; / Parameter: Integral gain _iq Kc; / Parameter: Integral correction gain _iq Kd; / Parameter: Derivative gain _iq Up1; / History: Previous proportional output PIDREG3; typedefPIDREG3*PIDREG3_handle; /*- PID Macro Definition-*/#define PID_MACRO(v) v.Err = v.Ref - v.Fdb; /* Compute the error */ v.Up= _IQmpy(v.Kp,v.Err); /* Compute the proportional output */ v.Ui= v.Ui + _IQmpy(v.Ki,v.Up) + _IQmpy(v.Kc,v.SatErr); /* Compute the integral output */ v.OutPreSat= v.Up + v.Ui; /* Compute the pre-saturated output */ v.Out = _IQsat(v.OutPreSat, v.OutMax, v.OutMin); /* Saturate the output */ v.SatErr = v.Out - v.OutPreSat; /* Compute the saturate difference */ v.Up1 = v.Up; /* Update the previous proportional output */#endif/ _PIDREG3_H_/ Add the lines below if derivative output is needed following the integral update/ v.Ud = _IQmpy(v.Kd,(v.Up -