算法学习（1-2）PID控制本版二

https://gist.github.com/bradley219/5373998

  特色：

比起第一版，加入了 最大最小值限制，暂无测试。

  PIDImpl( double dt, double max, double min, double Kp, double Kd, double Ki );

  代码：

pid.cpp

#ifndef _PID_SOURCE_
#define _PID_SOURCE_

#include <iostream>
#include <cmath>
#include "pid.h"

using namespace std;

class PIDImpl
{
    public:
        PIDImpl( double dt, double max, double min, double Kp, double Kd, double Ki );
        ~PIDImpl();
        double calculate( double setpoint, double pv );

    private:
        double _dt;
        double _max;
        double _min;
        double _Kp;
        double _Kd;
        double _Ki;
        double _pre_error;
        double _integral;
};


PID::PID( double dt, double max, double min, double Kp, double Kd, double Ki )
{
    pimpl = new PIDImpl(dt,max,min,Kp,Kd,Ki);
}
double PID::calculate( double setpoint, double pv )
{
    return pimpl->calculate(setpoint,pv);
}
PID::~PID() 
{
    delete pimpl;
}


/**
 * Implementation
 */
PIDImpl::PIDImpl( double dt, double max, double min, double Kp, double Kd, double Ki ) :
    _dt(dt),
    _max(max),
    _min(min),
    _Kp(Kp),
    _Kd(Kd),
    _Ki(Ki),
    _pre_error(0),
    _integral(0)
{
}

double PIDImpl::calculate( double setpoint, double pv )
{
    
    // Calculate error
    double error = setpoint - pv;

    // Proportional term
    double Pout = _Kp * error;

    // Integral term
    _integral += error * _dt;
    double Iout = _Ki * _integral;

    // Derivative term
    double derivative = (error - _pre_error) / _dt;
    double Dout = _Kd * derivative;

    // Calculate total output
    double output = Pout + Iout + Dout;

    // Restrict to max/min
    if( output > _max )
        output = _max;
    else if( output < _min )
        output = _min;

    // Save error to previous error
    _pre_error = error;

    return output;
}

PIDImpl::~PIDImpl()
{
}

#endif

　　pid.h

#ifndef _PID_H_
#define _PID_H_

class PIDImpl;
class PID
{
    public:
        // Kp -  proportional gain
        // Ki -  Integral gain
        // Kd -  derivative gain
        // dt -  loop interval time
        // max - maximum value of manipulated variable
        // min - minimum value of manipulated variable
        PID( double dt, double max, double min, double Kp, double Kd, double Ki );

        // Returns the manipulated variable given a setpoint and current process value
        double calculate( double setpoint, double pv );
        ~PID();

    private:
        PIDImpl *pimpl;
};

#endif

　　pid_example.cpp

#include "pid.h"
#include <stdio.h>

int main() {

    PID pid = PID(0.1, 100, -100, 0.1, 0.01, 0.5);

    double val = 20;
    for (int i = 0; i < 100; i++) {
        double inc = pid.calculate(0, val);
        printf("val:% 7.3f inc:% 7.3f\n", val, inc);
        val += inc;
    }

    return 0;
}