C++Builder PID控制一阶惯性系统

//---------------------------------------------------------------------------

#ifndef Unit1H
#define Unit1H
//---------------------------------------------------------------------------
#include <Classes.hpp>
#include <Controls.hpp>
#include <StdCtrls.hpp>
#include <Forms.hpp>
#include <Chart.hpp>
#include <ExtCtrls.hpp>
#include <Series.hpp>
#include <TeEngine.hpp>
#include <TeeProcs.hpp>
//---------------------------------------------------------------------------
class TForm1 : public TForm
{
__published:	// IDE-managed Components
        TButton *Button1;
        TChart *Chart1;
        TLineSeries *Series1;
        TChart *Chart2;
        TLineSeries *Series2;
        TEdit *Edit1;
        TEdit *Edit2;
        TEdit *Edit3;
        TEdit *Edit4;
        TEdit *Edit5;
        TEdit *Edit6;
        TLabel *Label1;
        TLabel *Label2;
        TLabel *Label3;
        TLabel *Label4;
        TLabel *Label5;
        TLabel *Label6;
        TButton *Button2;
        void __fastcall Button1Click(TObject *Sender);
        void __fastcall Button2Click(TObject *Sender);
private:	// User declarations
public:		// User declarations
        __fastcall TForm1(TComponent* Owner);
};
//---------------------------------------------------------------------------
extern PACKAGE TForm1 *Form1;
//---------------------------------------------------------------------------
#endif

2.Unit1.cpp

//---------------------------------------------------------------------------

#include <vcl.h>
#pragma hdrstop

#include "Unit1.h"
#include "File1.h"
//---------------------------------------------------------------------------
#pragma package(smart_init)
#pragma resource "*.dfm"
TForm1 *Form1;
//---------------------------------------------------------------------------
__fastcall TForm1::TForm1(TComponent* Owner)
        : TForm(Owner)
{
   Edit1->Text = 1.5;           //控制参数
   Edit2->Text = 0.5;
   Edit3->Text = 0.1;
   Edit4->Text = 3;
   Edit5->Text = 0.3;
   Edit6->Text = 20;
}
//---------------------------------------------------------------------------

void __fastcall TForm1::Button1Click(TObject *Sender)
{
   double Kp = Edit1->Text.ToDouble();
   double Ki = Edit2->Text.ToDouble();
   double Kd = Edit3->Text.ToDouble();

   double T = Edit4->Text.ToDouble();
   double Ts = Edit5->Text.ToDouble();
   double Signal = Edit6->Text.ToDouble();

   CIncrementalPID IPID(Kp,Ki,Kd);
   CPositionalPID  PPID(Kp,Ki,Kd);

   Series1->Clear() ;
   Series2->Clear() ;
   for(int i = 0; i < 200 ;i++)
   {
      IPID.SetStepSignal(Signal);
      IPID.SetInertiaTime(T,Ts);
      PPID.SetStepSignal(Signal);
      PPID.SetInertiaTime(T,Ts);

      Series1->AddXY(i,IPID.SystemOutput,"",clRed );
      Series2->AddXY(i,PPID.SystemOutput,"",clBlue );
   }
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button2Click(TObject *Sender)
{
  Close();
}
//---------------------------------------------------------------------------

#ifndef CPID_H
#define CPID_H
/*****************************************************************
#                      增量式PID系统                              #
#*****************************************************************/
class CIncrementalPID
{
public:
   CIncrementalPID(double P, double I, double D);
   ~CIncrementalPID(){}
private:
   double  Kp;
   double  Ki;
   double  Kd;

   double  PIDOutput;            //PID控制器输出
   double  LastSystemOutput;     //上次系统输出值

   double  Error;                //输出值与输入值的偏差
   double  LastError;
   double  LastLastError;
public:
   double  SystemOutput;         //系统输出值
   void    SetStepSignal(double StepSignal);
   void    SetInertiaTime(double InertiaTime,double SampleTime);
};

/******************************************************************
#                      位置式PID系统                               #
# *****************************************************************/
class CPositionalPID
{
public:
   CPositionalPID(double P, double I, double D);
   ~CPositionalPID(){}
private:
   double  Kp;
   double  Ki;
   double  Kd;

   double  ResultValueBack;
   double  PidOutput;

   double  PIDErrADD;
   double  ErrBack;
public:
   double  SystemOutput;
   void    SetStepSignal(double StepSignal);
   void    SetInertiaTime(double InertiaTime,double SampleTime);
};

#endif

#include "File1.h"
CIncrementalPID::CIncrementalPID(double P, double I, double D)
{
   Kp = P;
   Ki = I;
   Kd = D;

   PIDOutput = 0.0;             //PID控制器输出
   SystemOutput = 0.0;          //系统输出值
   LastSystemOutput = 0.0;      //上次系统输出值

   Error = 0.0;                 //输出值与输入值的偏差
   LastError = 0.0;
   LastLastError = 0.0;
}

//设置PID控制器参数
void CIncrementalPID::SetStepSignal(double StepSignal)
{
   Error = StepSignal - SystemOutput;
   double IncrementValue = Kp * (Error - LastError) + Ki * Error + Kd * (Error - 2 * LastError + LastLastError);
   PIDOutput += IncrementValue;
   LastLastError = LastError;
   LastError = Error;
}

//设置一阶惯性环节系统  其中InertiaTime为惯性时间常数
void CIncrementalPID::SetInertiaTime(double InertiaTime,double SampleTime)
{
   SystemOutput = (InertiaTime * LastSystemOutput + SampleTime * PIDOutput) / (SampleTime + InertiaTime);
   LastSystemOutput = SystemOutput;
}

/********************************************************************
#                      位置式PID系统                                #
# ******************************************************************/
CPositionalPID::CPositionalPID(double P, double I, double D)
{
   Kp = P;
   Ki = I;
   Kd = D;

   SystemOutput = 0.0;
   ResultValueBack = 0.0;
   PidOutput = 0.0;
   PIDErrADD = 0.0;
   ErrBack = 0.0;
}

//设置PID控制器参数
void CPositionalPID::SetStepSignal(double StepSignal)
{
   double Err = StepSignal - SystemOutput;
   double KpWork = Kp * Err;
   double KiWork = Ki * PIDErrADD;
   double KdWork = Kd * (Err - ErrBack);
   PidOutput = KpWork + KiWork + KdWork;
   PIDErrADD += Err;
   ErrBack = Err;
}
//设置一阶惯性环节系统  其中InertiaTime为惯性时间常数
void CPositionalPID::SetInertiaTime(double InertiaTime,double SampleTime)
{
   SystemOutput = (InertiaTime * ResultValueBack + SampleTime * PidOutput) / (SampleTime + InertiaTime);
   ResultValueBack = SystemOutput;
}