C语言描述PID算法程序

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#include <C8051 F020.H>
#include <string.h>
& _6 K' L. y! |% y1 \#include <math.h>
//void PIDInit(PID *PP);
7 s( _4 i% h1 m0 s7 @# [/ ^% X. P/*定义结构体和公用体*/
#define N 8
typedef struct PID{
8 ]2 w! j* P% Q+ y* O2 xunsigned int setpoint; /* 设定值*/
unsigned int proportion;/*比例系数*/
unsigned int integral;/*积分系数*/
unsigned int derivative;|*微分系数*/
& W! j" f3 x$ q, X& W7 L/ gunsigned int lasterror;/*前一拍误差*/
3 s  L0 I0 k% Q8 T- k7 Y9 ?( }unsigned int preerror; .|*前两拍误差*/
! t) [: n: Y; N+ S0 S5 Z}PID;


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6 S8 l& P# E" Funion stu{
) A  X. d& _& B$ G+ h6 e% E4 Funsigned int value;
# w# q: x! [$ vunsigned char num[2];
}laser;
4 S2 F" G) @7 P# R' H# a: o& b+ Nunion dat{
( f$ y2 E" s. N9 ^unsigned char dd[2];
* @$ W) \) r( K  V; I' Iunsigned int number;
}collect;
/*函数声明部分*/
unsigned int PIDcal(PID *pp,int thiserror);
2 Z5 ^5 y8 p( Ovoid PIDInit(PID *PP);
% E/ n- v: C; p# qvoid PortInit(void);
& T$ X" {" M5 I8 Gunsigned int get_ _ad(void);
7 p/ z! ]2 J. a4 A% aunsigned int filter_ _valve(void);
- `4 U) I4 O  u' lvoid Delayms(void);
/*主函数部分*/
void main(void)

{
0 B9 t% e+ }+ I/ a. kPID vPID;/*定义结构体变量名 */
unsigned  int verror;
/ d1 s7 @5 J- T: j  Yunsigned  int Error;
unsigned  int tempi;
unsigned char L ASERH,L ASERL;/*误差的高低字节变量*/
WDTCN=0xde;
WDTCN=0xad;
# u* Q# E9 o6 @/ v' P2 G8 o//portinit();
PIDInit(&vPID);
  Q5 [9 X, K& d' NvPID.proportion= 10;/*设置PID比例系数为10*/
* O* |2 a. h3 o2 JvPlD.integral=10;/*设定PID积分系数 为10*/

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C语言描述PID算法程序

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