C++Builder PID控制一阶惯性系统

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//---------------------------------------------------------------------------#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 declarationspublic:// 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();}//---------------------------------------------------------------------------

3.File1.h

#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

4.File1.cpp

#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;}

5.实现效果：

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