我用的PI算法是CNTL_2P2Z_IQ.H文件，代码如下：
/**
* Second order control law using an IIR filter structure with programmable output saturation.
* This macro uses CNTL_2P2Z_IQ_C structures to store coefficients & internal values.
* The structures should be initialized with the supplied CNTL_2P2Z_IQ_C_INIT macro.
* Within the structure the Max & Min parameters are the output bounds where as the IMin parameter
* is used for saturating the lower bound while keeping an internal history. The IMin parameter
* should not be lower than -0.9.
*/
#ifndef CNTL_2P2Z_IQ_C_H_
#define CNTL_2P2Z_IQ_C_H_
#include "IQmathLib.h"
/**
* Two-pole two-zero controller structures.
*/
typedef struct {
// Coefficients
long Coeff_B2;
long Coeff_B1;
long Coeff_B0;
long Coeff_A2;
long Coeff_A1;
// Output saturation limits
long Max;
long IMin;
long Min;
} CNTL_2P2Z_IQ_C_Coeffs;
typedef struct {
// Inputs
long Ref;
long Fdbk;
// Internal values
long Errn;
long Errn1;
long Errn2;
// Output values
long Out;
long Out1;
long Out2;
long OutPresat;
} CNTL_2P2Z_IQ_C_Vars;
/**
* Calculates a second order control law with IIR filter and programmable output saturation.
* @param CNTL_2P2Z_IQ_C_Coeffs structure with proper coefficient values.
* @param CNTL_2P2Z_IQ_C_Vars structure with internal & output values.
* @return CNTL_2P2Z_IQ_C_Vars Out parameter.
*/
#define CNTL_2P2Z_IQ_C(v, k) \
/* Calculate error */ \
k.Errn = k.Ref - k.Fdbk; \
k.OutPresat = _IQ24mpy(v.Coeff_A2,k.Out2) + _IQ24mpy(v.Coeff_A1 , k.Out1) + _IQ24mpy(v.Coeff_B2 ,k.Errn2) \
+ _IQ24mpy(v.Coeff_B1 , k.Errn1) + _IQ24mpy(v.Coeff_B0 , k.Errn); \
\
/* Update error values */ \
k.Errn2 = k.Errn1; \
k.Errn1 = k.Errn; \
\
/* Determine new output */ \
k.Out = k.OutPresat; \
k.Out = (k.Out < v.Max) ? k.Out : v.Max; \
k.Out = (k.Out > v.IMin) ? k.Out : v.IMin; \
\
/* Store outputs */ \
k.Out2 = k.Out1; \
k.Out1 = k.Out; \
/* Saturated output */ \
k.Out = ((k.Out > v.Min) ? k.Out : v.Min);
/*
* Initial values for CNTL_2P2Z_IQ_C structures.
*/
#define CNTL_2P2Z_IQ_C_VAR_INIT(k) \
/* Initialize variables */ \
k.Ref = 0; \
k.Fdbk = 0; \
k.Errn = 0; \
k.Errn1 = 0; \
k.Errn2 = 0; \
k.Out = 0; \
k.Out1 = 0; \
k.Out2 = 0; \
k.OutPresat = 0;
#define CNTL_2P2Z_IQ_C_COEFF_INIT(v) \
/* Initialize coefficients */ \
v.Coeff_B2 = 0; \
v.Coeff_B1 = 0; \
v.Coeff_B0 = 0; \
v.Coeff_A2 = 0; \
v.Coeff_A1 = 0; \
/* IMin cannot be lower than -0.9 */ \
v.IMin = _IQ24(-0.9); \
v.Max = _IQ24(1.0); \
v.Min = (0)
#endif /* CNTL_2P2Z_IQ_C_H_ */
也就是y(n)=y(n-1)+kp*(e(n)-e(n-1)) + ki（e(n)+e(n-1)），
1， 在调试中，在某一时刻，我看了e(n)的值总是等于e(n-1)，而e(n-2)的值才是上一时刻的值。这是为什么？
2，这个kp的值和ki的值我总是找不到合适的参数，导致输出y(n没有变化，有没有好的办法来确定这个系数？
希望懂得人给点建议，谢谢！在线等。
