Znalazlem na stronie Atmel'a fragment programu realizujacy regulator PID dla uC. Czy w linii 93 nie ma aby bledu? Wedlug mnie powinna ona wygladac raczej tak
d_term = pid_st->D_Factor * (processValue - pid_st->lastProcessValue);
czy ktos moze potwierdzic poprawnosc ktores z wersji?
00060 {
00061 int16_t error, p_term, d_term;
00062 int32_t i_term, ret, temp;
00063
00064 error = setPoint - processValue;
00065
00066 // Calculate Pterm and limit error overflow
00067 if (error > pid_st->maxError){
00068 p_term = MAX_INT;
00069 }
00070 else if (error < -pid_st->maxError){
00071 p_term = -MAX_INT;
00072 }
00073 else{
00074 p_term = pid_st->P_Factor * error;
00075 }
00076
00077 // Calculate Iterm and limit integral runaway
00078 temp = pid_st->sumError + error;
00079 if(temp > pid_st->maxSumError){
00080 i_term = MAX_I_TERM;
00081 pid_st->sumError = pid_st->maxSumError;
00082 }
00083 else if(temp < -pid_st->maxSumError){
00084 i_term = -MAX_I_TERM;
00085 pid_st->sumError = -pid_st->maxSumError;
00086 }
00087 else{
00088 pid_st->sumError = temp;
00089 i_term = pid_st->I_Factor * pid_st->sumError;
00090 }
00091
00092 // Calculate Dterm
00093 d_term = pid_st->D_Factor * (pid_st->lastProcessValue - processValue);
00094
00095 pid_st->lastProcessValue = processValue;
00096
00097 ret = (p_term + i_term + d_term) / SCALING_FACTOR;
00098 if(ret > MAX_INT){
00099 ret = MAX_INT;
00100 }
00101 else if(ret < -MAX_INT){
00102 ret = -MAX_INT;
00103 }
00104
00105 return((int16_t)ret);
00106 }
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