C语言描述PID算法程序

pulbieup

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#include <C8051 F020.H>
#include <string.h>
#include <math.h>
//void PIDInit(PID *PP);
/ |! U/ o8 G9 \. J3 S# D  m' h/*定义结构体和公用体*/
#define N 8
typedef struct PID{
unsigned int setpoint; /* 设定值*/
unsigned int proportion;/*比例系数*/
- K- K+ q' @$ A( Wunsigned int integral;/*积分系数*/
+ ]9 J6 [2 [! `7 V  Y) y( F" g# munsigned int derivative;|*微分系数*/
unsigned int lasterror;/*前一拍误差*/
unsigned int preerror; .|*前两拍误差*/
  {2 _$ T5 b1 A; M}PID;



+ y3 t2 Y0 B  t: gunion stu{
unsigned int value;
unsigned char num[2];
}laser;
union dat{
( g0 y6 _: t/ n. M9 X* Runsigned char dd[2];
# p  f! c" @! k% junsigned int number;
}collect;
/*函数声明部分*/
unsigned int PIDcal(PID *pp,int thiserror);
void PIDInit(PID *PP);
void PortInit(void);
) U, p6 E# V- a- V2 }& hunsigned int get_ _ad(void);
$ s0 N. L" R1 [: U0 i  A; ?unsigned int filter_ _valve(void);
, P" a, j- _6 Q! Jvoid Delayms(void);
+ C* C8 S$ i. t6 [4 E8 O: }- ^/*主函数部分*/
void main(void)
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{
PID vPID;/*定义结构体变量名 */
unsigned  int verror;
unsigned  int Error;
unsigned  int tempi;
7 I8 A% g# k0 nunsigned char L ASERH,L ASERL;/*误差的高低字节变量*/
WDTCN=0xde;
: @0 ?( f1 D( i+ z) Y. `WDTCN=0xad;
//portinit();
PIDInit(&vPID);
vPID.proportion= 10;/*设置PID比例系数为10*/
# H7 n& H2 \* _+ _+ x; nvPlD.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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