This is a typical PID process, using the microcontroller as a control cpu, make some simplification, the specific PID Parameters must be determined experimentally by a specific object. As the ram chip processing speed and resource constraints, generally do not use floating-point operations, And all parameters of all integers, and divided by an operator to the last N-th power of 2 data (the equivalent of the shift) for a similar fixed-point operations can be Greatly enhance the computing speed, according to the different requirements of precision control, when high precision, attention to retain the shift caused by the "remainder", do I Number of compensation. This procedure is commonly used basic structure pid algorithm, does not include input and output processing section

实验29分析pid算法在51单片机上实现\pid
.................................\pid.c
.................................\pid.lnp
.................................\pid.LST
.................................\pid.M51
.................................\pid.OBJ
.................................\pid.Opt
.................................\pid.plg
.................................\pid.Uv2
.................................\pid_Opt.Bak
.................................\STARTUP.A51
.................................\STARTUP.LST
.................................\STARTUP.OBJ
实验29分析pid算法在51单片机上实现

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