C语言描述PID算法程序

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# i0 b& m- h0 \: |" e, Y+ K#include <C8051 F020.H>
! z& X  B) B3 a' ~5 |2 Z: U#include <string.h>
. i9 T1 n/ _- H: v#include <math.h>
6 h& K9 I8 Y; t//void PIDInit(PID *PP);
/ K# h7 G: y. J0 Z, w* D; X4 m/*定义结构体和公用体*/
#define N 8
8 g5 x$ @$ C; _, c; a" |: f5 ?- |typedef struct PID{
unsigned int setpoint; /* 设定值*/
unsigned int proportion;/*比例系数*/
unsigned int integral;/*积分系数*/
2 t4 Q$ Y2 g- ~) C9 m2 F! ^9 t; H* s% q' Kunsigned int derivative;|*微分系数*/
7 q" \9 n5 r6 }( E5 m9 N3 q6 Iunsigned int lasterror;/*前一拍误差*/
unsigned int preerror; .|*前两拍误差*/
}PID;
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union stu{
$ G; a& o3 {2 Lunsigned int value;
: }4 E  P4 Z. H1 ], F0 nunsigned char num[2];
6 Z  W$ z9 z6 c# g0 P}laser;
2 h7 v+ I- l1 C- M, l  i2 B* Zunion dat{
$ a' @4 p6 G- {unsigned char dd[2];
) K5 h' B/ z, R/ ?- M( ^unsigned int number;
# e1 \6 V7 k' M4 q4 @8 T% Z}collect;
/*函数声明部分*/
unsigned int PIDcal(PID *pp,int thiserror);
' {+ ?- N5 y+ H+ |2 S- Hvoid PIDInit(PID *PP);
void PortInit(void);
1 _" ^1 J7 D$ U* u. K2 punsigned int get_ _ad(void);
6 N6 E' q; E, i8 n. j6 t; [unsigned int filter_ _valve(void);
6 ~  B: C( f" Svoid Delayms(void);
( C# g' B1 q5 ]) x3 D/*主函数部分*/
void main(void)

{
* i  j) y7 c4 z% S+ \, C% o+ tPID vPID;/*定义结构体变量名 */
3 n4 {' v4 F# d" M1 k: f* e% Kunsigned  int verror;
+ m2 p" p2 V. u: K  C% [8 runsigned  int Error;
  Z) C/ H3 v* A" j/ ]3 Q' Wunsigned  int tempi;
% s- {" T3 m# m% N1 ?unsigned char L ASERH,L ASERL;/*误差的高低字节变量*/
WDTCN=0xde;
WDTCN=0xad;
//portinit();
7 a' K, c+ K- S6 O  n. r* x, {$ ZPIDInit(&vPID);
vPID.proportion= 10;/*设置PID比例系数为10*/
. D7 M& n& v* }7 VvPlD.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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