The Internet to find a more typical PID treatment procedures, and in the use of single chip microcomputer as control CPU, please make a little simplified, specific PID Parameters by a concrete object must be determined by the experiment. Because of the single chip processing speed and ram resource constraints, generally does not use the floating-point operation, And will all the parameters with all integers, computing to finally divided by a 2 N power data (equivalent to shift), like fixed-point number operations, but Greatly improve the computational speed, according to the different requirements of control accuracy, high accuracy, when to keep shift the remainder ", "caused more than well Several compensation. The procedure is usually used pid algorithm does not include the basic structure, input and output processing

PID算法.txt

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