C语言描述PID算法程序

turth

#include <C8051F020.H>
#include <string.h>
#include <math.h>
llvoid PIDInit(PID "P)]:
6 v  K8 }1 S: b4 M# \' R( \* r尸定义结构体和公用体1
#define N8
* `; d. `# l5 \. d8 ltypedef struct PID{
unsigned int setpoint:
9 \* p; I1 X. c# [尸设定值1
/ k3 p- G, [8 v8 b9 Q2 }unsigned int proportion:
2 J( t: v0 f" r% R* }I"比例系数1
$ s1 t0 _8 P1 d0 s  runsigned int integral;
% C& n  X1 r) F$ ?' ^( Z) ~; Q1积分系数”1
+ Z- G' y/ t* J. q$ [% vunsigned int derivative;
尸微分系数°1
unsigned int lasterror;
「前一"拍误差"1
1 Q$ L# {, E5 [' U- S' kunsigned int preerror,
P前两拍误差1
0 V# J1 n% m/ j( T: {5 p! A}PID;
  t' Y4 V) \& w3 O7 @union stu{
' l' Y5 [/ ]% d4 R+ X4 Hunsigned int value;
unsigned char num[2];
}laser;
. T7 T5 r- L& e+ R8 }union dat{
unsigned char dd[2]:
7 s0 Q% O" Z) Eunsigned int number,
' c, |8 S: L* P0 Y# e& f}collect
P函数声明部分"I
7 G4 n3 x' J8 O; R' B/ M5 [unsigned int PIDcal(PID "pp.int tiser):
void PIDInit(PID "P)]:
void Portinit(void);
unsigned int get ad(void);
( Q8 M$ F- l) ^. C( E/ Sunsigned int flter valve(void).
void Delayms(void);
' a6 |3 q7 Y$ n* L5 R3 e' qP"主函数部分”1
8 ~# N" [0 k" s0 d0 @void main(void)
) d5 }4 h2 M" x3 L9 RPID vPID;
7 p: `$ n! K* ^) Z; ^1"定义结构体变量名”1
unsigned int verror,
unsigned int Error,
unsigned int tempi:
unsigned
' A7 I8 [3 _& e0 b  G8 y) Tchar LASERH,LASERL误差的高低字节变量 “1
* u# w( o( f/ z- m" d9 rWDTCN=Oxde;
# j* b1 e6 a% H, Y, KWDTCN=Oxad;
lporinit);:
PIDInit(&vPID);
! h+ W7 V8 z1 g& uvPID.proportion=10; P 设置PID 比例系数为10°/
vPID.integral=10; 1 设定PID 积分系数为10*/

游客，如果您要查看本帖隐藏内容请回复

道法自然

兄弟，你这个偷笑是咋回事？