C语言描述PID算法程序

pulbieup

#include <C8051 F020.H>
#include <string.h>
% J! c8 h7 S9 T- F$ G* i#include <math.h>
//void PIDInit(PID *PP);
' g$ b/ V# v9 }: p2 X/*定义结构体和公用体*/
#define N 8
2 Q3 _, o4 j+ ^2 X7 c% mtypedef struct PID{
% h, [1 E- |: w3 v, Xunsigned int setpoint; /* 设定值*/
unsigned int proportion;/*比例系数*/
, y) ]  `. E0 G: [8 k  ^unsigned int integral;/*积分系数*/
unsigned int derivative;|*微分系数*/
$ [6 p" C! v. C! `unsigned int lasterror;/*前一拍误差*/
unsigned int preerror; .|*前两拍误差*/
  t3 I  \2 X0 F( q4 x+ F" s' L}PID;

2 U3 ~$ M8 V: ~
" q2 ^1 ]  V, x& i: T) `" n5 R3 o
union stu{
* G  M$ t" g* `' C- p1 D. ~unsigned int value;
unsigned char num[2];
}laser;
union dat{
% g! S7 R/ b% N% L3 j" Yunsigned char dd[2];
# r# O% M, ~9 Z. Iunsigned int number;
}collect;
; l6 W. D/ H) ]8 ?% ]/ n0 Y, r/*函数声明部分*/
2 W  q( T* Y- }! G9 Aunsigned int PIDcal(PID *pp,int thiserror);
void PIDInit(PID *PP);
2 j+ }- K: S! v2 q2 F/ Cvoid PortInit(void);
unsigned int get_ _ad(void);
. y) I, u9 ~6 b. G, S) T7 Z6 ]2 junsigned int filter_ _valve(void);
5 M: m. i. A# `6 L& r- `! |8 }& pvoid Delayms(void);
/ o* ]1 P7 @: D. z- o/*主函数部分*/
void main(void)
2 i  k8 n' Q, d' P
{
" n7 I  {( N) r" i0 |& i7 ePID vPID;/*定义结构体变量名 */
2 a0 W: W+ l# W! r2 \unsigned  int verror;
unsigned  int Error;
unsigned  int tempi;
7 O, |2 [& H9 \( `7 X  Nunsigned char L ASERH,L ASERL;/*误差的高低字节变量*/
WDTCN=0xde;
WDTCN=0xad;
//portinit();
6 t1 O4 k$ z0 YPIDInit(&vPID);
vPID.proportion= 10;/*设置PID比例系数为10*/
0 x6 u) {' L- z/ D8 r/ MvPlD.integral=10;/*设定PID积分系数 为10*/

  X  |7 V) y( ^/ ]
5 G% K) F* A, t5 J6 a* C
1 P6 `5 I# a( k! m( \

游客，如果您要查看本帖隐藏内容请回复

1 ~5 ~: S% W0 p* j4 }: Z1 _9 v* l



/ s$ {# F) ?. b: E1 z" S, N

xixihahaheihei

C语言描述PID算法程序

不想不念

谢谢分享学习

zhaochengjie

xxxxxxxxxxxx
" [2 Y. z0 n+ r6 z; l

chuan4242

谢谢分享学习