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TI公司的PID程序，怎么感觉我所认知的PID不一样，求指教！（积分和微分的求法，怎么有点看不懂了）

Yuqiao Hu
Intellectual 323 points
Other Parts Discussed in Thread: CONTROLSUITE

void pid_reg3_calc(PIDREG3 *v)
{
// Compute the error
v->Err = v->Ref - v->Fdb;

// Compute the proportional output
v->Up = v->Kp*v->Err;                      

// Compute the integral output
v->Ui = v->Ui +v->Ki*v->Up + v->Kc*v->SatErr;

// Compute the derivative output
v->Ud = v->Kd*(v->Up - v->Up1);

// Compute the pre-saturated output
v->OutPreSat = v->Up + v->Ui + v->Ud;
// v->OutPreSat =(v->OutPreSat>>24);
// Saturate the output
if (v->OutPreSat > v->OutMax)
v->Out = v->OutMax;
else if (v->OutPreSat < v->OutMin)
v->Out = v->OutMin;
else
v->Out = v->OutPreSat;

// Compute the saturate difference
v->SatErr = v->Out - v->OutPreSat;

// Update the previous proportional output
v->Up1 = v->Up;
}