// PID.cpp : Defines the class behaviors for the application.
//

#include "stdafx.h"
#include "PID.h"
#include "PIDDlg.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CPIDApp

BEGIN_MESSAGE_MAP(CPIDApp, CWinApp)
	//{{AFX_MSG_MAP(CPIDApp)
		// NOTE - the ClassWizard will add and remove mapping macros here.
		//    DO NOT EDIT what you see in these blocks of generated code!
	//}}AFX_MSG
	ON_COMMAND(ID_HELP, CWinApp::OnHelp)
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CPIDApp construction

CPIDApp::CPIDApp()
{
	// TODO: add construction code here,
	// Place all significant initialization in InitInstance
}

/////////////////////////////////////////////////////////////////////////////
// The one and only CPIDApp object

CPIDApp theApp;

/////////////////////////////////////////////////////////////////////////////
// CPIDApp initialization

BOOL CPIDApp::InitInstance()
{
	AfxEnableControlContainer();

	// Standard initialization
	// If you are not using these features and wish to reduce the size
	//  of your final executable, you should remove from the following
	//  the specific initialization routines you do not need.

#ifdef _AFXDLL
	Enable3dControls();			// Call this when using MFC in a shared DLL
#else
	Enable3dControlsStatic();	// Call this when linking to MFC statically
#endif

	CPIDDlg dlg;
	m_pMainWnd = &dlg;
	int nResponse = dlg.DoModal();
	if (nResponse == IDOK)
	{
		// TODO: Place code here to handle when the dialog is
		//  dismissed with OK
	}
	else if (nResponse == IDCANCEL)
	{
		// TODO: Place code here to handle when the dialog is
		//  dismissed with Cancel
	}

	// Since the dialog has been closed, return FALSE so that we exit the
	//  application, rather than start the application's message pump.
	return FALSE;
}

//////////////////////////////////////////////////////////////////////
// PID Class
//////////////////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

PID::PID()
{
	PidInit();
}

PID::~PID()
{

}
float PID::ControlMode(float f_Pv)		//正反作用實現(xiàn)
{
	switch(n_Control)
	{
	case 0:
		return f_Pv-f_Sv;						//反作用
		break;
	case 1:
		return f_Sv-f_Pv;		
		break;
	default:
		return 1.0;
		break;
	}
}
void PID::NormalPID(float f_Pv,float &f_Mv)		//常規(guī)控制算法實現(xiàn)
{
	float q0,q1,q2;
	q0=f_Kp*(1+f_Ts/f_Ti+f_Td/f_Ts);
	q1=-f_Kp*(1+2*f_Td/f_Ts);
	q2=f_Kp*f_Td/f_Ts;
	e0=ControlMode(f_Pv);
	uk=uk+q0*e0+q1*e1+q2*e2;
	e2=e1;
	e1=e0;
	f_Mv=uk;
}
void PID::PidInit()				//PID內(nèi)部參數(shù)初始化
{
	e0=0;
	e1=0;
	e2=0;
	uk=0;

}