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void prpvtest::PID_Init(){    cout << "PID_Init begin!" << endl;    pid.SetSpeed = 0;    pid.ActualSpeed = 0;    pid.Err = 0;    pid.Err_last = 0;    pid.Err_Next = 0;    pid.Kp = _Kpid[0];    pid.Ki = _Kpid[1];    pid.Kd = _Kpid[2];    cout << pid.Kp << pid.Ki << pid.Kd << endl;    cout << "PID_Init end!" << endl;}double prpvtest::PID_Calc(float speed,float realv){    double u;    double incrementSpeed;    pid.SetSpeed = speed;    pid.ActualSpeed = realv;    pid.Err = pid.SetSpeed - pid.ActualSpeed;      u = pid.Kp*pid.Err;    incrementSpeed = pid.Kp*(pid.Err - pid.Err_Next) + pid.Ki*pid.Err        +pid.Kd * (pid.Err - 2 * pid.Err_Next + pid.Err_last);    pid.Err_last = pid.Err_Next;    pid.Err_Next = pid.Err;        return incrementSpeed;}

以上用C++代码实现了增量式PID控制（控制对象是动态油缸）

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