C语言描述PID算法程序

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#include <C8051 F020.H>
+ S. f3 d' G; L  V, R* X#include <string.h>
#include <math.h>
# `" k% d, _) c7 I- _% t//void PIDInit(PID *PP);
* @% q# ~7 L* C; I/*定义结构体和公用体*/
! M* _$ D8 M9 C* P" z/ X& Y#define N 8
typedef struct PID{
3 Z9 M) C+ H/ |! Xunsigned int setpoint; /* 设定值*/
- m! y2 c, I% S& e" h5 b- e7 xunsigned int proportion;/*比例系数*/
unsigned int integral;/*积分系数*/
2 U/ E  X; j. t0 @6 G1 y0 Y! B, `unsigned int derivative;|*微分系数*/
: f7 _: }) V2 k1 l9 \1 }2 r1 Qunsigned int lasterror;/*前一拍误差*/
4 U+ d" m; Z# M3 |$ Xunsigned int preerror; .|*前两拍误差*/
}PID;
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8 P) n! E, k6 F7 v5 k6 Xunion stu{
unsigned int value;
unsigned char num[2];
, v# X" C! I0 E0 i}laser;
# i! S, u3 G4 o  I  ounion dat{
9 y$ [+ c( k* r1 @5 w! c) Eunsigned char dd[2];
unsigned int number;
}collect;
( W5 _0 |' }% ?% M. X1 ]& t$ a/*函数声明部分*/
unsigned int PIDcal(PID *pp,int thiserror);
1 n; _+ o/ X" T$ }+ }9 J% b2 f' ?; Evoid PIDInit(PID *PP);
void PortInit(void);
& y+ l" ?9 q! y8 runsigned int get_ _ad(void);
unsigned int filter_ _valve(void);
void Delayms(void);
! d1 V& N/ `; Y6 q! ~: m4 u/*主函数部分*/
8 I) V2 q1 a* ~' L8 g0 Zvoid main(void)
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{
" i7 p+ ~" m- Z# h- x% X1 oPID vPID;/*定义结构体变量名 */
unsigned  int verror;
unsigned  int Error;
unsigned  int tempi;
unsigned char L ASERH,L ASERL;/*误差的高低字节变量*/
WDTCN=0xde;
WDTCN=0xad;
0 |: S$ x- G! _( z  Q' j- R//portinit();
. f2 w3 H+ U9 |PIDInit(&vPID);
vPID.proportion= 10;/*设置PID比例系数为10*/
3 R# F9 u! R4 Q5 ]" gvPlD.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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