程序代码：

#include <stdio.h>
#include <Windows.h>
typedef struct
{
    float                kp;         //P
    float                ki;         //I
    float                kd;         //D
    float                imax;       //积分限幅

    float                out_p;  //KP输出
    float                out_i;  //KI输出
    float                out_d;  //KD输出
    float                out;    //pid输出

    float                integrator; //< 积分值
    float                last_error; //< 上次误差
    float                last_derivative;//< 上次误差与上上次误差之差
    float                 last_t;     //< 上次时间
}pid_param_t;




float constrain_float(float amt, float low, float high)
{
    return ((amt)<(low)?(low):((amt)>(high)?(high):(amt)));
}




/*!
  * @brief    pid参数初始化函数
  *
  * @param    无
  *
  * @return   无
  *
  * @note     无
  *
  * @see      无
  *
  * @date     2020/6/8
  */
void PidInit(pid_param_t * pid)
{
    pid->kp        = 0;
    pid->ki        = 0;
    pid->kd        = 0;
    pid->imax      = 0;
    pid->out_p     = 0;
    pid->out_i     = 0;
    pid->out_d     = 0;
    pid->out       = 0;
    pid->integrator= 0;
    pid->last_error= 0;
    pid->last_derivative   = 0;
    pid->last_t    = 0;
}


/*!
  * @brief    pid位置式控制器输出
  *
  * @param    pid     pid参数
  * @param    error   pid输入误差
  *
  * @return   PID输出结果
  *
  * @note     无
  *
  * @see      无
  *
  * @date     2020/6/8
  */
float PidLocCtrl(pid_param_t * pid, float error)
{
    /* 累积误差 */
    pid->integrator += error;

    /* 误差限幅 */
    constrain_float(pid->integrator, -pid->imax, pid->imax);

    pid->last_error = error;
    pid->out_p = pid->kp * error;
    pid->out_i = pid->ki * pid->integrator;
    pid->out_d = pid->kd * (error - pid->last_error);



    pid->out = pid->out_p + pid->out_i + pid->out_d;

    return pid->out;
}




int main ()
{
    pid_param_t pid1; 
    int T=100;  
    PidInit(&pid1);
    pid1.kp = 0.2;
    pid1.ki = 0.1;
    
     PidLocCtrl(&pid1, 100);
     while(pid1.out != 100)
      {
         printf("pid1.out  %f\n",pid1.out);
        Sleep(T);//延时ms     
     }
     
}

程序代码：

struct _pid{
    float SetSpeed;           //定义设定值
    float ActualSpeed;        //定义实际值
    float err;               //定义偏差值
    float err_last;           //定义上一个偏差值
    float Kp,Ki,Kd;           //定义比例、积分、微分系数
    float voltage;         //定义电压值（控制执行器的变量）
    float integral;           //定义积分值
}pid;
void PID_init(){
    printf("PID_init begin \n");
    pid.SetSpeed=0.0;
    pid.ActualSpeed=40.0;
    pid.err=0.0;
    pid.err_last=0.0;
    pid.voltage=0.0;
    pid.integral=0.0;
    pid.Kp=0.2;
    pid.Ki=0.1;
    pid.Kd=0;
    printf("PID_init end \n");
}


float PID_realize(float speed){
    pid.SetSpeed=speed;
    pid.err=pid.SetSpeed-pid.ActualSpeed;
    pid.integral+=pid.err;
    pid.voltage=pid.Kp*pid.err+pid.Ki*pid.integral+pid.Kd*(pid.err-pid.err_last);
    pid.err_last=pid.err;
    pid.ActualSpeed=pid.voltage*1.0;
    return pid.voltage;
}

int main(){
    PID_init();
    int count=0;
    while(count<100)
    {
        float speed=PID_realize(200.0);
        printf("%f\n",speed);
        
        count++;
    }
return 0;
}