C语言描述PID算法程序

turth

#include <C8051F020.H>
#include <string.h>
; B3 x/ }! E! U. e) h2 G#include <math.h>
9 {0 E, s! u* X7 L3 [llvoid PIDInit(PID "P)]:
尸定义结构体和公用体1
#define N8
, L, r7 u% Y8 {& u8 u0 A! Btypedef struct PID{
0 B3 q9 B, W( |) P- @7 C7 ~7 Gunsigned int setpoint:
% `  t, x1 T5 C; d6 o尸设定值1
; {5 A1 H0 H' N* E$ M, J! Lunsigned int proportion:
I"比例系数1
& B3 B- N' _. v' L2 g; r. Tunsigned int integral;
/ u  P7 L8 |, e$ N/ m  h2 h/ f6 i, J1积分系数”1
unsigned int derivative;
. G( ^; G- y8 X# N& a# D5 `& A+ C尸微分系数°1
" ?& U2 m8 F7 q; q& iunsigned int lasterror;
「前一"拍误差"1
unsigned int preerror,
8 T, ?; C& G- Y, t; |+ m: j6 BP前两拍误差1
}PID;
& |: L" T5 G- M. D6 d) b+ q6 r: P; Sunion stu{
, e2 V$ D8 _3 e" vunsigned int value;
/ }, Z5 K! m' s; [" m* |' N0 a; M4 ]unsigned char num[2];
}laser;
union dat{
unsigned char dd[2]:
unsigned int number,
}collect
P函数声明部分"I
unsigned int PIDcal(PID "pp.int tiser):
void PIDInit(PID "P)]:
) \7 m3 D. e, b9 v8 o% a& v( i4 Lvoid Portinit(void);
unsigned int get ad(void);
unsigned int flter valve(void).
void Delayms(void);
- ]' r1 K" y; Z# P3 {P"主函数部分”1
void main(void)
9 w7 W! @5 I, ]) u: r* M) m& KPID vPID;
1"定义结构体变量名”1
unsigned int verror,
2 m2 I* Y9 T% @% K( \unsigned int Error,
; `, [$ g8 x. y: W- L' c! E( [! ^unsigned int tempi:
4 `* B: F8 j! A, r4 q) sunsigned
char LASERH,LASERL误差的高低字节变量 “1
+ F9 q7 e# P) O+ }WDTCN=Oxde;
WDTCN=Oxad;
) G0 P/ g$ Q2 {* Ulporinit);:
6 [; _  W% m, F0 f' t8 sPIDInit(&vPID);
vPID.proportion=10; P 设置PID 比例系数为10°/
4 G) a$ h3 r. AvPID.integral=10; 1 设定PID 积分系数为10*/
; H5 U8 b9 b; X' t5 e

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' f) m+ C$ a" Z$ u8 |2 u( u

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