STM32单片机的PID算法实现程序无法编译,求指导 -

#include "System_init.h"
extern int U_Set;
extern u16 CCR1_Val;
/*====================================================================================================
PID Function
The PID (比例、积分、微分) function is used in mainly
control applications. PIDCalc performs one iteration of the PID
algorithm.
While the PID function works, main is just a dummy program showing
a typical usage.
=====================================================================================================*/
typedef struct PID {
float SetPoint; // 设定目标Desired value
float Proportion; // 比例常数Proportional Const
float Integral; // 积分常数Integral Const
float Derivative; // 微分常数Derivative Const
float LastError; // Error[-1]
float PrevError; // Error[-2]
float SumError; // Sums of Errors
} PID;
/*====================================================================================================/
PID计算部分
=====================================================================================================*/
PID vPID={0,0.1,0.001,0.001,0,0,0};
float PIDCalc( PID *pp, float NextPoint )
{
float dError,
Error;
Error = pp->SetPoint - NextPoint; // 偏差
pp->SumError += Error; // 积分
dError = pp->LastError - pp->PrevError; // 当前微分
pp->PrevError = pp->LastError;
pp->LastError = Error;
if(pp->SumError>900) pp->SumError=900;
else if(pp->SumError<-900) pp->SumError=-900;
return (pp->Proportion * Error // 比例项
+ pp->Integral * pp->SumError // 积分项
+ pp->Derivative * dError // 微分项
);
}
float Vol(int vSet,int v3){
float vOut; // PID Response (Output)
float vIn; // PID Feedback (Input)
vPID.SetPoint = vSet; // Set PID Setpoint
vIn = (float)v3; // Read Input
vOut = PIDCalc ( &vPID,vIn ); // Perform PID Interation
return vOut;
}

复制代码