C51的PID算法

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//PID算法温控C语言2008-08-17 18:58
7 j) X! B0 m- [  D( V#include<w77e58.h>
#include<intrins.h>
' a% _1 b( }/ e; ]7 ^#include<math.h>
#include<string.h>
struct PID {
& {3 W, G$ B! q% F! kunsigned int SetPoint; // 设定目标 Desired Value
unsigned int Proportion; // 比例常数 Proportional Const
unsigned int Integral; // 积分常数 Integral Const
unsigned int Derivative; // 微分常数 Derivative Const
unsigned int LastError; // Error[-1]
: d) b& e1 [3 E, ?9 J& j$ n" M2 nunsigned int PrevError; // Error[-2]
unsigned int SumError; // Sums of Errors
};
struct PID spid; // PID Control Structure
unsigned int rout; // PID Response (Output)
) n9 y% L, b, @( o  }& Junsigned int rin; // PID Feedback (Input)
sbit data1=P1^0;
, ~* A9 K5 G3 E; K4 Osbit clk=P1^1;
' R& h5 Q) u4 i0 o# y) ysbit plus=P2^0;
% f+ s3 s8 g) ^2 i1 Q, Csbit subs=P2^1;
% D2 p. T4 _% M  }sbit stop=P2^2;
/ W* E, o% N$ E0 [# |7 Esbit output=P3^4;
: I/ {# l( j+ x3 s) w7 Osbit DQ=P3^3;
  O/ a. f" p1 |) e  hunsigned char flag,flag_1=0;
unsigned char high_time,low_time,count=0;//占空比调节参数
  G2 R$ d* g$ t3 Z7 O6 C  g9 munsigned char set_temper=35;
$ L, @& G  V' x  ]& ]unsigned char temper;
% N% b# g! c3 L0 ~unsigned char i;
4 z7 b5 _  Q* K+ K5 g1 J$ Xunsigned char j=0;
7 t% f5 f3 f6 Wunsigned int s;
/***********************************************************
, A8 d6 ^( C) \延时子程序,延时时间以12M晶振为准,延时时间为30us×time
***********************************************************/
void delay(unsigned char time)
& ]0 {9 x. j! F" Q9 M9 x{
unsigned char m,n;
6 Y5 G: d3 L4 |for(n=0;n<time;n++)
. q: @9 c" C$ s8 U3 j4 nfor(m=0;m<2;m++){}
}
. w2 c! i) E" F& i/ p' q, q6 e/***********************************************************
0 G$ l# z5 h6 _& `: c写一位数据子程序
***********************************************************/

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