C语言描述PID算法程序

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#include <C8051 F020.H>
#include <string.h>
& C, f( P( p' x" ?2 q- C#include <math.h>
//void PIDInit(PID *PP);
/*定义结构体和公用体*/
#define N 8
/ k# D/ R+ E" d8 g/ Z. Ltypedef struct PID{
unsigned int setpoint; /* 设定值*/
( R- _4 a* \2 C5 d0 uunsigned int proportion;/*比例系数*/
unsigned int integral;/*积分系数*/
unsigned int derivative;|*微分系数*/
/ X0 l6 ]( o- h+ o; [unsigned int lasterror;/*前一拍误差*/
9 a0 ^4 b. ]0 u9 f/ Z6 cunsigned int preerror; .|*前两拍误差*/
}PID;
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union stu{
& s1 @8 c" C. V( m% V9 Bunsigned int value;
unsigned char num[2];
+ e/ s- t) ?+ u0 t- U3 m" Q5 |}laser;
union dat{
# E7 o* x0 z# o3 C( Nunsigned char dd[2];
unsigned int number;
}collect;
/*函数声明部分*/
unsigned int PIDcal(PID *pp,int thiserror);
+ ^1 `& H4 \2 J: E1 Q. ?5 L5 x/ N. Bvoid PIDInit(PID *PP);
3 @* S7 h6 N/ W0 R1 L" p3 Yvoid PortInit(void);
unsigned int get_ _ad(void);
unsigned int filter_ _valve(void);
, B* o6 w7 d7 P6 H" J  ]* Xvoid Delayms(void);
" w6 C8 d" l6 h3 _% i% R; u/*主函数部分*/
. ~. |( Q5 \0 w$ f; t; }; rvoid main(void)

{
* p: [4 L/ p1 J* ]) K4 QPID vPID;/*定义结构体变量名 */
unsigned  int verror;
unsigned  int Error;
8 s0 w  _7 E: U% H( I! iunsigned  int tempi;
unsigned char L ASERH,L ASERL;/*误差的高低字节变量*/
( R: M1 {6 U+ }! r6 ^9 IWDTCN=0xde;
3 j5 d; S; R# _3 TWDTCN=0xad;
( V/ F1 {- i8 J! C; j; ?//portinit();
PIDInit(&vPID);
- s0 @3 X) T% n  S  J  Y/ AvPID.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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C语言描述PID算法程序

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