void Convert_PID_To_ABC(Delta_PID_TypeDef* tPID)
{
if(tPID->PID_TI_DATA!=0)
{
tPID->Delta_PID_A=((float)((float)tPID->PID_P_DATA*(1+(float)SAMPLE_TIME/(float)tPID->PID_TI_DATA+(float)tPID->PID_TD_DATA/(float)SAMPLE_TIME))); //A
tPID->Delta_PID_B=((float)((float)tPID->PID_P_DATA*(1+2*(float)tPID->PID_TD_DATA/(float)SAMPLE_TIME)));//B
tPID->Delta_PID_C=((float)((float)tPID->PID_P_DATA*(float)tPID->PID_TD_DATA/(float)SAMPLE_TIME));//C
}
else//TI=0,不想使用积分项
{
tPID->Delta_PID_A=((float)((float)tPID->PID_P_DATA*(1+(float)tPID->PID_TD_DATA/(float)SAMPLE_TIME))); //A
tPID->Delta_PID_B=((float)((float)tPID->PID_P_DATA*(1+2*(float)tPID->PID_TD_DATA/(float)SAMPLE_TIME)));//B
tPID->Delta_PID_C=((float)((float)tPID->PID_P_DATA*(float)tPID->PID_TD_DATA/(float)SAMPLE_TIME));//C
}
}