C语言描述PID算法程序

turth

#include <C8051F020.H>
; G5 P' O6 G7 P#include <string.h>
( n5 Z5 H+ g3 E: g. `& M0 P1 \#include <math.h>
7 p$ D5 v- k4 k  R' S/ y2 n9 r( o) bllvoid PIDInit(PID "P)]:
尸定义结构体和公用体1
#define N8
typedef struct PID{
unsigned int setpoint:
尸设定值1
unsigned int proportion:
I"比例系数1
unsigned int integral;
: e! H2 f1 i: i- E6 z2 C1积分系数”1
; ^, |# \. l. k6 _+ s/ Yunsigned int derivative;
尸微分系数°1
3 ]; C, ^4 a/ Hunsigned int lasterror;
「前一"拍误差"1
unsigned int preerror,
0 c8 b/ i$ i# x$ g/ `P前两拍误差1
0 M1 D! c% h! r/ B7 B}PID;
! I+ W' q9 g2 D( @4 Hunion stu{
unsigned int value;
unsigned char num[2];
1 _" P+ v( x# h; G8 n+ ]' w}laser;
union dat{
5 ?, u2 ]7 p# X! k3 \- n' z& `unsigned char dd[2]:
unsigned int number,
9 l- L) k$ b& Z, B! p/ D( {: N}collect
P函数声明部分"I
/ c9 R: x. G; W4 K! Q7 _2 H- L& iunsigned int PIDcal(PID "pp.int tiser):
void PIDInit(PID "P)]:
void Portinit(void);
" p0 |- }& S1 _/ `unsigned int get ad(void);
3 _, n8 W: c" ~/ H' Q* ]& V+ l. h" d2 dunsigned int flter valve(void).
void Delayms(void);
P"主函数部分”1
( ]9 d; p: t& S+ Cvoid main(void)
! |: E. @: S  DPID vPID;
& _% g( Q! m# o) d1 U7 N1"定义结构体变量名”1
) w2 C$ a' I7 V7 v( v( ?6 U$ _unsigned int verror,
unsigned int Error,
. f3 R: d* a: Y% ^; C  }unsigned int tempi:
unsigned
char LASERH,LASERL误差的高低字节变量 “1
& z) Q+ h7 h0 i4 I" w) |2 L( jWDTCN=Oxde;
9 z$ u1 T- z2 e' B, [/ T" BWDTCN=Oxad;
0 O$ b6 \" G& \5 tlporinit);:
PIDInit(&vPID);
9 S; G4 r* @: l% x9 W- K1 c) z1 RvPID.proportion=10; P 设置PID 比例系数为10°/
( L8 b/ W. d4 PvPID.integral=10; 1 设定PID 积分系数为10*/

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道法自然

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