在Solar Lib V1.2，以浮点库为例，直接贴源码了。
// PI control law with programmable output saturation.
// This macro uses CNTL_PI_F structures to store coefficients & internal values.
// The structures should be initialized with the supplied CNTL_PI_F_INIT macro.
// Within the structure the Max & Min parameters are the output bounds
typedef struct {
float32 Ref; // Input: reference set-point
float32 Fbk; // Input: feedback
float32 Out; // Output: controller output
float32 Kp; // Parameter: proportional loop gain
float32 Ki; // Parameter: integral gain
float32 Umax; // Parameter: upper saturation limit
float32 Umin; // Parameter: lower saturation limit
float32 up; // Data: proportional term
float32 ui; // Data: integral term
float32 v1; // Data: pre-saturated controller output
float32 i1; // Data: integrator storage: ui(k-1)
float32 w1; // Data: saturation record: [u(k-1) - v(k-1)]
} CNTL_PI_F;
//*********** Function Declarations *******//
void CNTL_PI_F_init(CNTL_PI_F *k);
void CNTL_PI_F_FUNC(CNTL_PI_F *v);
//*********** Macro Definition ***********//
#define CNTL_PI_F_MACRO(v) \
/* proportional term */ \
v.up = ((v.Ref - v.Fbk)*v.Kp);
/* integral term */
v.ui = (v.Out == v.v1)?((v.Ki* v.up)+ v.i1) : v.i1;
v.i1 = v.ui;
/* control output */
v.v1 = (v.up + v.ui);
v.Out= (v.v1> v.Umax)?v.Umax:v.v1;
v.Out= (v.Out< v.Umin)?v.Umin:v.Out;
#endif /* CNTL_PI_F_H_ */
我的问题是，这里的代码对应s域传递函数是不是 G(s)=Kp*( s+Ki / Fsw ) / s？，其中Fsw为开关频率(假设每个F_ISR=Fsw)
计算积分项的时候是上次积分值+本次误差*Kp*Ki，如果是G(s)=Kp+Ki/s，计算积分项是不用×Kp的，另外也没有离散时间常数Ts=1/Fsw在里面。
请帮忙确认一下，谢谢！
