公式都改成pid

HARDWARE/PID.c

@@ -52,12 +52,12 @@ void PID_Init()
 	pid.hd_h = 0.5;
 	pid.h_base_h = 0;
 
-	pid.hp_l = 19.2;
+	pid.hp_l = 14.4;
 	pid.hi_l = 0.08;
 	pid.hd_l = 0;
 	pid.h_base_l = 53;
 
-	pid.cp = 9.6;
+	pid.cp = 3;
 	pid.ci = 0;
 	pid.cd = 0;
 	pid.c_base = 37;
@@ -127,8 +127,8 @@ int calc_hp(float delta_t, float Error_calc, float DelEk, int p_hb, float pid_hp
 /**
  * compressor power percent calc
 */
-int calc_cp(float delta_t, int p_cb, float pid_cp) {
-	int percent = p_cb - pid_cp * delta_t;
+int calc_cp(float delta_t, float Error_calc, float DelEk, int cb, float cp, float ci, float cd) {
+	int percent = cb - cp * delta_t + ci * Error_calc + cd * DelEk;
 	if (percent > 100) {
 		return 100;
 	}
@@ -166,13 +166,6 @@ void PID_Calc() // pid calc
 	// }
 
 	float delta_t = pid.set_tem - pid.now_tem;
-	// When the target tem is greater then max compressor tem, the compressor will stop
-	if (pid.set_tem > pid.max_compressor_tem) {
-	    pid.c_speed = 0;
-	} else {
-		int p_c = calc_cp(delta_t, pid.c_base, pid.cp);
-		pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count);
-	}
 	
 	float hp = pid.hp_h;
 	float hi = pid.hi_h;
@@ -204,9 +197,11 @@ void PID_Calc() // pid calc
 		pid.SEk = 0;
 	}
 
+	
+
 	// SEk limit, updated func, remain a little heater power when the compressor is running in full state
-	if (pid.SEk < - (h_base - 10) / hi) {
-		pid.SEk = - (h_base - 10) / hi;
+	if (pid.SEk < - (h_base / 2) / hi) {
+		pid.SEk = - (h_base / 2) / hi;
 	}
 	if (pid.c_speed == max_speed_count) {
 		pid.SEk = 0;
@@ -250,6 +245,14 @@ void PID_Calc() // pid calc
 		pid.OUT = out;
 	}
 
+	// When the target tem is greater then max compressor tem, the compressor will stop
+	if (pid.set_tem > pid.max_compressor_tem) {
+	    pid.c_speed = 0;
+	} else {
+		int p_c = calc_cp(delta_t, Error_calc, DelEk, pid.c_base, pid.cp, pid.ci, pid.cd);
+		pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count);
+	}
+
 	// heater percent
 	pid.h_percent = calc_hp(delta_t, Error_calc, DelEk, h_base, hp, hi, hd);
 	// close heater when compressor is running in full state