#ifndef __PID__#define __PID__/*PID = Uk + KP*[E(k)-E(k-1)]+KI*E(k)+KD*[E(k)-2E(k-1)+E(k-2)];(增量型PID算式)函数入口: RK(设定值),CK(实际值),KP,KI,KD函数出口: U(K)*/typedef struct PIDValue{int8 KP;int8 KI;int8 KD;int8 F;int8 BITMOV;int EK[3];int UK;int RK;int CK;int UK_REAL;}pid_str;//PIDValueStr  PID;void    pid_exe(pid_str *PID)  ;#endif//pid.c/*PID = PID->UK_REAL + PID->KP*[E(k)-E(k-1)]+PID->KI*E(k)+PID->KD*[E(k)-2E(k-1)+E(k-2)];(增量型PID算式)函数入口: PID->RK(设定值),PID->CK(实际值),PID->KP,PID->KI,PID->KD函数出口: U(K)*/#include"defines.h"#include"pid.h"#define MAXOUT 0xff//#define MAXGAP 100void pid_exe(pid_str*PID){PID->EK[2]=PID->EK[1];PID->EK[1]=PID->EK[0];PID->EK[0]=PID->RK-PID->CK;PID->UK_REAL=PID->UK_REAL+PID->KP*(PID->EK[0]-PID->EK[1])//微分一次后积分即原数+(float)PID->KI*PID->EK[0]/PID->F//直接积分+(float)PID->KD*(PID->EK[0]-2*PID->EK[1]+PID->EK[2])*PID->F;//二阶微分后积分即一阶微分if((PID->UK_REAL>>PID->BITMOV)>=MAXOUT){PID->UK=MAXOUT;}else if(PID->UK_REAL>>PID->BITMOV<=-MAXOUT){PID->UK=-MAXOUT;}else{PID->UK=PID->UK_REAL>>PID->BITMOV;}}