倒立擺注釋版51單片機算法pid源程序

#include<reg51h>#include<intrinsh>#include<mathh>#include<stringh>structPID{unsignedintSetPointDesiredunsignedintProportion;ProportionalConstunsignedintIntegral;//IntegralConstunsignedintDerivative;//DerivativeConstunsignedintLastError;//Error[-1]unsignedintPrevError;//Error[-2]unsignedintSumError;//SumsofErrorsstructPIDspid;//PIDControlStructureunsignedintrout;//PIDResponse(Output)unsignedintrin;//PIDFeedback(Input)sbitdata1=P1^0;sbitclk=P1^1;sbitplus=P2^0;sbitsubs=P2^1;sbitstop=P2^2;sbitoutput=P3^4;sbitDQ=P3^3;unsignedcharunsignedcharhigh_time,low_time,count=0;//占空比調(diào)節(jié)參數(shù)unsignedcharset_temper=35;unsignedchartemper;unsignedchari;unsignedcharj=0;unsignedints;延時子程序,12M晶振為準(zhǔn),voiddelay(unsignedchartime){unsignedcharm,n;}voidwrite_bit(unsignedcharbitval){DQ=0;/*DQ以開始一個寫時序*/{DQ=1;/*1，則將總線置高}delay(5);/*90usDA18B20采樣*/DQ=1;/*DQ總線*/}voidwrite_byte(unsignedcharval){unsignedchari;unsignedchartemp;for(i=0;i<8;i++)/*寫一字節(jié)數(shù)據(jù)，一次寫一位{temp=val>>i*移位操作，將本次要寫的位移到最低位*/write_bit(temp/*向總線寫該位}delay(7/*120us后//TR0=1;}unsignedcharread_bit(){unsignedchari,value_bit;DQ=0;/*DQ，開始讀時序DQ=1;/*釋放總線*/}unsignedcharread_byte(){unsignedchari,value=0;{if(read_bit())*讀一字節(jié)數(shù)據(jù)，一個時序中讀一次，并作移位處理*/delay(4/*80us以完成此次都時序，之后再讀下一數(shù)據(jù)}unsignedcharreset(){unsignedcharDQ=0;/*DQ總線開始復(fù)位delay(30/*480us*/DQ=1;/*釋放總線*/presence=DQ;/*獲取應(yīng)答信號*/delay(28/*延時以完成整個時序*/return(presence);/*返回應(yīng)答信號，有應(yīng)答返回0,無則返回}voidget_temper(){unsignedchari,j;{i=reset(/*復(fù)位}while(i!=0);*1為無反饋信號*/i=0xcc;/*發(fā)送設(shè)備定位命令i=0x44/*發(fā)送開始轉(zhuǎn)換命令*/delay(180);*延時*/{i=reset(/*復(fù)位}i=0xcc;/*設(shè)備定位*/i=0xbe;/*讀出緩沖區(qū)內(nèi)容*/s=(unsigned temper=i|j;*獲取的溫度放在temper中}InitializePIDvoidPIDInit(structPID{memsetpp,0,sizeof(struct }PIDunsignedintPIDCalc(structPID*pp,unsignedintNextPoint{unsignedintErrorpp->SetPoint //pp->SumError dErrorpp->LastErrorpp->PrevError;//pp->PrevError=pp-pp->LastError=return(pp->Proportion* //pp->Integral*pp- //+pp->Derivative* //}voidcompare_temper(){unsignedchar {if(set_temper-temper>1)//1{ }else//1PID{{get_temper();//獲取溫度rin=s;//ReadInputrout=PIDCalc(&spid,rin);//PerformPID }if(high_time<=100)high_time=(unsignedchar)(rout/800);low_time=(100-high_time);}}else{{}{{rin=s;//Readrout=PIDCalc(&spid,rin);//PerformPID }if(high_time<100)high_time=(unsignedchar)(rout/10000);low_time=(100-}}////}T0,40us*100=4msvoidserve_T0()interrupt1using1{else{}}voidserve_sio()interrupt4using2{/*EA=0;{}else}EA=1;}voiddisp_1(unsignedchar{unsignedcharn,a,m;{//k=disp_num1[n];{}}}voiddisy(){unsignedcharcodenumber[]={0xfc,0x60,0xda,0xf2,0x66,0xb6,0xbe,0xe0,0xfe,0xf6};unsignedchardisp_num[6];unsignedintk,k1;}voidmain(){unsignedcharunsignedcharunsignedcharphil[]={2,0xce,0x6e,0x60,0x1c,2};PIDInit(&spid);//Initializespid.Proportion10;SetPIDCoefficientsPr