公司理财第11版罗斯习题答案

链接：https://pan.baidu.com/s/1BNYtjg_hN-w5in9_xq4EUA
提取码：1234

#include "pid.h"

extern bit heatFlag;             //加热启动标志
extern bit coolFlag;             //制冷启动标志

#if 0
PID_State_Def PID_Iterate(PID_Calibration_Def calibration, PID_State_Def state)
{
    float error;
    float derivative;
    
    // calculate difference between desired and actual values (the error)
    error = state.target - state.actual;
    // calculate and update integral

    state.integral += (error);
    /* 积分限幅 */
    if (state.integral >= 1000)
    {
        state.integral = 1000;
    }
    
    // calculate derivative
    derivative = (error - state.previous_error);
    // calculate output value according to algorithm
    state.output = (
        (calibration.kp * error) + (calibration.ki * state.integral) + (calibration.kd * derivative)
    );

    if (state.output >= 100)
    {
        state.output = 100;
    }
    else if (state.output <= 0)
    {
        state.output = 0;
    }

    // update state.previous_error to the error value calculated on this iteration
    state.previous_error = error;
    // return the state struct reflecting the calculations
    return state;
}

#else

PID_State_Def PID_Increament(PID_Calibration_Def calibration, PID_State_Def state)
{
    float error;
    
    // calculate difference between desired and actual values (the error)
    if (heatFlag)
    {
        error = state.target - state.actual;
    }
    if (coolFlag) 
    {
        error = state.actual - state.target;
    }
    

    // calculate output value according to algorithm
    state.output += (
        (calibration.kp * (error - state.last_error)) + (calibration.ki * error)\
        + calibration.kd * (error - 2 * state.last_error + state.previous_error)
    );

    if (state.output >= 100)
    {
        state.output = 100;
    }
    else if (state.output <= 0)
    {
        state.output = 0;
    }

    // update state.previous_error to the error value calculated on this iteration
    state.previous_error = state.last_error;
    state.last_error = error;

    // return the state struct reflecting the calculations
    return state;
}

#endif