65 lines
1.7 KiB
C
65 lines
1.7 KiB
C
/*=====================================================================================
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File name: PID_REG3.C (IQ version)
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Originator: Digital Control Systems Group
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Texas Instruments
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Description: The PID controller with anti-windup
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=====================================================================================
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History:
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-------------------------------------------------------------------------------------
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04-15-2005 Version 3.20
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-------------------------------------------------------------------------------------*/
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#include "pid_reg3.h"
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#include "IQmathLib.h" // Include header for IQmath library
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#define IQ_100 1677721600
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#pragma CODE_SECTION(pid_reg3_calc,".fast_run");
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void pid_reg3_calc(PIDREG3 *v)
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{
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_iq Ud2;
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// Compute the error
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v->Err = v->Ref - v->Fdb;
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// Compute the proportional output
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v->Up = _IQmpy(v->Kp,v->Err);
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// Compute the integral output
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v->Ui = v->Ui + _IQmpy(v->Ki,v->Up) + _IQmpy(v->Kc,v->SatErr);
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/*
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// Saturate the integral output
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if (v->Ui > v->OutMax)
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v->Ui = v->OutMax;
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else if (v->Ui < v->OutMin)
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v->Ui = v->OutMin;
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*/
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// Compute the derivative output
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Ud2 = v->Up - v->Up1;// _IQmpy(IQ_100,(v->Up - v->Up1));
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v->Ud = _IQmpy(v->Kd,Ud2);
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// Compute the pre-saturated output
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v->OutPreSat = v->Up + v->Ui + v->Ud;
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// Saturate the output
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if (v->OutPreSat > v->OutMax)
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v->Out = v->OutMax;
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else if (v->OutPreSat < v->OutMin)
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v->Out = v->OutMin;
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else
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v->Out = v->OutPreSat;
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// Compute the saturate difference
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v->SatErr = v->Out - v->OutPreSat;
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// Update the previous proportional output
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v->Up1 = v->Up;
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}
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