C语言描述PID算法程序

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5 }# E7 L$ X- c* ?#include <C8051 F020.H>
#include <string.h>
#include <math.h>
//void PIDInit(PID *PP);
/*定义结构体和公用体*/
. h) {6 i$ ~8 H#define N 8
typedef struct PID{
5 H$ a4 Q& ^0 C* l! J* g& O% \unsigned int setpoint; /* 设定值*/
unsigned int proportion;/*比例系数*/
unsigned int integral;/*积分系数*/
; g) R7 {. @; o; p+ t% B+ Uunsigned int derivative;|*微分系数*/
% Z. F- W/ v9 ]  T! Tunsigned int lasterror;/*前一拍误差*/
( u; z0 k8 Q% V# _9 b8 Funsigned int preerror; .|*前两拍误差*/
. f5 o' o& b. A0 C. c6 D}PID;



% \- d3 p) [1 e0 M0 }+ v/ ?union stu{
unsigned int value;
2 A# y0 n# K" M" ^4 P9 Vunsigned char num[2];
! O0 r, B  N6 ~( a' E$ m}laser;
union dat{
unsigned char dd[2];
/ J6 m7 H% c9 I6 I9 ?unsigned int number;
# X# k+ w! L" k6 A8 x4 G2 S}collect;
/*函数声明部分*/
7 y8 C+ l. }- g$ n1 ^" }unsigned int PIDcal(PID *pp,int thiserror);
' U! B) L- o$ G: Pvoid PIDInit(PID *PP);
void PortInit(void);
/ s1 Z! Y! z$ q; {9 J% Tunsigned int get_ _ad(void);
& ^! M; ~$ H- P) zunsigned int filter_ _valve(void);
void Delayms(void);
( G. `. G1 F* z4 N/*主函数部分*/
void main(void)

{
PID vPID;/*定义结构体变量名 */
unsigned  int verror;
unsigned  int Error;
unsigned  int tempi;
7 j- Z% M2 ~1 F+ k3 G* ?4 runsigned char L ASERH,L ASERL;/*误差的高低字节变量*/
9 S8 {: R" ?1 s: e6 NWDTCN=0xde;
WDTCN=0xad;
3 W' U, ]2 j) _4 n, ?//portinit();
+ c6 B- D' y  @" BPIDInit(&vPID);
vPID.proportion= 10;/*设置PID比例系数为10*/
vPlD.integral=10;/*设定PID积分系数 为10*/
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/ o& ?2 U; ^* p" w" u! u% e7 m

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C语言描述PID算法程序

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