下面提供一组最简单的pid伪代码和C代码 previous_error = 0 integral = 0 start: error = setpoint_speed - actual_speed integral = integral + (error*dt) derivative = (error - previous_error)/dt output = (Kp*error) + (Ki*integral) + (Kd*derivative) previous_error = error wait(dt) goto start C： typedef struct { double dState; // Last position input double iState; // Integrator state double iMax, iMin; // Maximum and minimum allowable integrator state double iGain, // integral gain pGain, // proportional gain dGain; // derivative gain } SPid; double UpdatePID(SPid * pid, double error, double position) { double pTerm, dTerm, iTerm; pTerm = pid->pGain * error; // calculate the proportional term // calculate the integral state with appropriate limiting pid->iState += error; if (pid->iState > pid->iMax) pid->iState = pid->iMax; else if (pid->iState < pid->iMin) pid->iState = pid->iMin; iTerm = pid->iGain * iState; // calculate the integral term dTerm = pid->dGain * (position - pid->dState); pid->dState = position; return pTerm + iTerm - dTerm; } 本文来源：https://www.wddqw.com/doc/bd6aa90a581b6bd97f19ea81.html