51單片機(jī)PID程序

1、#include #include /C語言中 memset函數(shù)頭文件#define unsigned int uint/*=PID FunctionThe PID (比例、積分、微分 )function is used in mainly control applications. PIDCalc performs one iteration of the PID algorithm.While the PID function works, main is just a dummy program showing a typical usage.=*/ typedef struct PID

2、 double SetPoint; / double Proportion; / double Integral; / double Derivative; /設(shè)定目標(biāo)Desired value比例常數(shù) Proportional Const積分常數(shù) Integral Const微分常數(shù) Derivative Constdouble LastError; / Error-1 double PrevError; / Error-2double SumError; / Sums of Errors PID;/*=PID計(jì)算部分=*/double PIDCalc( PID *pp, double Ne

3、xtPoint ) double dError, Error;偏差積分當(dāng)前微分Error = pp-SetPoint - NextPoint; / pp-SumError += Error;/dError = Error - pp-LastError; / pp-PrevError = pp-LastError;pp-LastError = Error;return (pp-Proportion * Error /比例項(xiàng)+ pp-Integral * pp-SumError / 積分項(xiàng) + pp-Derivative * dError /微分項(xiàng));)/*=Initialize PID Stru

4、cture PID參數(shù)初始化=*/void PIDInit (PID *pp)(memset ( pp,0,sizeof(PID);/*=Main Program 主程序=*/double sensor (void) / Dummy Sensor Function(return 100.0;/void actuator(double rDelta) / Dummy Actuator Function /void main(void)PID sPID; / PID Control Structuredouble rOut; / PID Response (Output)double rIn; /

5、 PID Feedback (Input)PIDInit ( &sPID ); / Initialize StructuresPID.Proportion = 0.5; Set PID CoefficientssPID.Integral = 0.5;sPID.Derivative = 0.0;sPID.SetPoint = 100.0; / Set PID Setpointfor (;) / Mock Up of PID ProcessingrIn = sensor (); / Read InputrOut = PIDCalc ( &sPID,rIn ); / Perform PID Interati