C51的PID算法

awesome

//PID算法温控C语言2008-08-17 18:58
#include<w77e58.h>
* g8 O2 {! L9 d/ X" o( C#include<intrins.h>
#include<math.h>
' P: g& A' i. N#include<string.h>
struct PID {
unsigned int SetPoint; // 设定目标 Desired Value
1 m" M! Q% t- P0 x' W- zunsigned int Proportion; // 比例常数 Proportional Const
# E) J' b2 Z, ]: n6 b6 Iunsigned int Integral; // 积分常数 Integral Const
& }0 M; @( w: ^% b# ]unsigned int Derivative; // 微分常数 Derivative Const
( o( \6 R7 }+ g( iunsigned int LastError; // Error[-1]
unsigned int PrevError; // Error[-2]
unsigned int SumError; // Sums of Errors
};
( V+ Z" W9 [+ ^% _1 E& s6 |struct PID spid; // PID Control Structure
unsigned int rout; // PID Response (Output)
unsigned int rin; // PID Feedback (Input)
sbit data1=P1^0;
: V. R1 `7 g' ^0 s# N( |sbit clk=P1^1;
4 w2 I4 Y) b7 s" ssbit plus=P2^0;
# m# z( w& s$ V, E7 \% H7 \sbit subs=P2^1;
  D1 B' p" }0 j( j: }) tsbit stop=P2^2;
sbit output=P3^4;
$ N+ x: S( O) V! j4 j+ [sbit DQ=P3^3;
unsigned char flag,flag_1=0;
1 ^- ]+ g6 _1 @, wunsigned 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;
unsigned int s;
/***********************************************************
延时子程序,延时时间以12M晶振为准,延时时间为30us×time
4 ?3 e/ p" N+ u5 m1 z***********************************************************/
void delay(unsigned char time)
9 z" ~3 v5 Z/ A2 Z0 ?" n: ?2 I& q{
  y9 \* J' l# h5 l. r& R" junsigned char m,n;
% r# K( F6 K+ |% E# X$ C3 f/ ?for(n=0;n<time;n++)
for(m=0;m<2;m++){}
+ X6 c$ {- c* j( W1 m" _+ f}
5 y5 J- @$ {; T% ^  f/***********************************************************
写一位数据子程序
***********************************************************/
. Q1 W8 m7 Z' v- m, l* y

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