C51的PID算法

awesome

//PID算法温控C语言2008-08-17 18:58
#include<w77e58.h>
  L( ?$ j! ^! h& B* c: p7 ?#include<intrins.h>
#include<math.h>
#include<string.h>
) C& Z8 A: V. G/ Sstruct PID {
8 \# K- Y- Y+ N" _# Runsigned int SetPoint; // 设定目标 Desired Value
) R8 x6 y- P; Q/ s( _- C# U# ~unsigned int Proportion; // 比例常数 Proportional Const
unsigned int Integral; // 积分常数 Integral Const
: H" ]/ Q6 p" D3 Z- ?- p7 F" Bunsigned int Derivative; // 微分常数 Derivative Const
unsigned int LastError; // Error[-1]
unsigned int PrevError; // Error[-2]
: i; t& B# V( r) W* m0 Q6 Wunsigned int SumError; // Sums of Errors
};
struct PID spid; // PID Control Structure
/ h# i2 y3 C7 Y) l0 ^; yunsigned int rout; // PID Response (Output)
" V+ ~5 C% P% ~2 J/ runsigned int rin; // PID Feedback (Input)
3 d/ Y# m1 E0 X! B5 E3 d4 esbit data1=P1^0;
. R2 `* I; g9 R& T* zsbit clk=P1^1;
) q  X7 b; F* m. l9 T& Qsbit plus=P2^0;
sbit subs=P2^1;
$ @2 r9 k3 _( z& k! _sbit stop=P2^2;
sbit output=P3^4;
5 E  _/ U! b5 E9 Ksbit DQ=P3^3;
unsigned char flag,flag_1=0;
* K0 d* `& m$ K1 w; xunsigned char high_time,low_time,count=0;//占空比调节参数
unsigned char set_temper=35;
unsigned char temper;
unsigned char i;
unsigned char j=0;
% t5 T" ?% B8 i, |  lunsigned int s;
; H$ k. n" w9 T% r, V6 b8 G/***********************************************************
( ]# [" C/ W% M: g延时子程序,延时时间以12M晶振为准,延时时间为30us×time
***********************************************************/
& Z* Y/ Y/ |, \. d# ~void delay(unsigned char time)
( u2 y9 `9 s5 H  Y% F5 S* `{
unsigned char m,n;
/ [" M4 c1 A7 w+ r4 y0 D0 E: Sfor(n=0;n<time;n++)
; p0 l. d/ \1 _5 X) {for(m=0;m<2;m++){}
+ g! t* ]( ?. j, U' Y7 {% w5 `' x- S}
& [& m7 B! ~8 ~5 _/***********************************************************
写一位数据子程序
5 r5 g( n6 A, v" x' T***********************************************************/
6 p+ G* y# B1 A

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bbxyliyang01

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