用C++实现一个简单的PID控制器
先上代码，原理后面再补充
#include <limits>
#include <iostream>
using namespace std;
class MyPID
{
public:
MyPID() {}
void Init(double init_v, double goal_v, double p, double i, double d)
{
initval = init_v;
goal = goal_v;
p_coe = p;
i_coe = i;
d_coe = d;
err = goal - initval;
}
void UpdateErr(double cte)
{
if (step == 1)
{
p_err = cte;
}
i_err += cte;
d_err = cte - p_err;
p_err = cte;
++step;
}
double TotalErr()
{
return p_coe * p_err + i_coe * i_err + d_coe * d_err;
}
~MyPID()
{
}
public:
double initval=1;
double goal=1;
double err=0;
int step = 1;
double p_coe=1, i_coe=1, d_coe=1;
double p_err=0, i_err=0, d_err=0;
};
int main()
{
MyPID Pid;
double ini = 7, goal = 8, p = 0.3345, i = 0.0011011, d = 0.662;
Pid.Init(ini, goal, p, i, d);
for (int i=0; i<20 ;++i)
{
double cte = goal - ini;
Pid.UpdateErr(cte);
cte = Pid.TotalErr();
ini += cte;
cout << cte << endl;
}
}
参考
无人驾驶汽车系统入门（四）——反馈控制入门，PID控制
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