C51的PID程序

C51的PID程序
2011年12月22日
　　//主程序================================================== ====
　　#include "Main.h"
　　#include "PID_f1.h"
　　/* .................................................. ............. */
　　/* .................................................. ............. */
　　void main(void)
　　{
　　float x,y,z;
　　while(1)
　　{
　　x = PID_Control(y,z);
　　}
　　}
　　//PID子程序================================================== ===
　　/*------------------------------------------------ ------------------*-
　　PID_f1.C (v1.00)
　　-------------------------------------------------- ----------------
　　Simple PID control implementation. 
　　See Chapter 35 for details.
　　COPYRIGHT
　　---------
　　This code is from the book:
　　PATTERNS FOR TIME-TRIGGERED EMBEDDED SYSTEMS by Michael J. Pont 
　　[Pearson Education, 2001; ISBN: 0-201-33138-1].
　　This code is copyright (c) 2001 by Michael J. Pont.
　　See book for copyright details and other information.
　　-*------------------------------------------------ ------------------*/
　　#include "PID_f1.h"
　　// ------ Private constants ----------------------------------------
　　#define PID_KP (0.2f)             // Proportional gain  
　　#define PID_KI (0.01f)            // Integral gain          
　　#define PID_KD (0.01f)            // Differential gain  
　　#define PID_MAX (1.0f)            // Maximum PID controller output
　　#define PID_MIN (0.0f)            // Minimum PID controller output
　　// ------ Private variable definitions------------------------------
　　static float Sum_G;       // Integrator component
　　static float Old_error_G; // Previous error value
　　/*------------------------------------------------ ------------------*-
　　PID_Control()
　　Simple floating-point version.
　　See text for details.
　　-*------------------------------------------------ ------------------*/
　　float PID_Control(float Error, float Control_old)
　　{
　　// Proportional term   
　　float Control_new = Control_old + (PID_KP * Error);
　　// Integral term
　　Sum_G += Error;
　　Control_new += PID_KI * Sum_G;
　　// Differential term
　　Control_new += (PID_KD * SAMPLE_RATE * (Error - Old_error_G));
　　// Control_new cannot exceed PID_MAX or fall below PID_MIN    
　　if (Control_new > PID_MAX) 
　　{
　　Control_new = PID_MAX; 
　　}
　　else
　　{
　　if (Control_new error value
　　Old_error_G = Error;
　　return Control_new;
　　}
　　/*------------------------------------------------ ------------------*-
　　---- END OF FILE -------------------------------------------------
　　-*------------------------------------------------ ------------------*/
　　//头文件Main.H============================================ =============
　　/*------------------------------------------------ ------------------*-
　　Main.H (v1.00)
　　-------------------------------------------------- ----------------
　　'Project Header' (see Chap 9) for project PID_f1 (see Chap 35)
　　COPYRIGHT
　　---------
　　This code is from the book:
　　PATTERNS FOR TIME-TRIGGERED EMBEDDED SYSTEMS by Michael J. Pont 
　　[Pearson Education, 2001; ISBN: 0-201-33138-1].
　　This code is copyright (c) 2001 by Michael J. Pont.
　　See book for copyright details and other information.
　　-*------------------------------------------------ ------------------*/
　　#ifndef _MAIN_H
　　#define _MAIN_H
　　//------------------------------------------------ ------------------
　　// WILL NEED TO EDIT THIS SECTION FOR EVERY PROJECT
　　//------------------------------------------------ ------------------
　　// Must include the appropriate microcontroller header file here
　　#include 
　　// Include oscillator / chip details here 
　　// (essential if generic delays / timeouts are used)
　　//  -
　　// Oscillator / resonator frequency (in Hz) e.g. (11059200UL)
　　#define OSC_FREQ (12000000UL)
　　// Number of oscillations per instruction (4, 6 or 12)
　　// 12 - Original 8051 / 8052 and numerous modern versions
　　//  6 - Various Infineon and Philips devices, etc.
　　//  4 - Dallas, etc.
　　//
　　// Take care with Dallas devices 
　　// - Timers default to *12* osc ticks unless CKCON is modified 
　　// - If using generic code on a Dallas device, use 12 here
　　#define OSC_PER_INST (12)
　　//------------------------------------------------ ------------------
　　// SHOULD NOT NEED TO EDIT THE SECTIONS BELOW
　　//------------------------------------------------ ------------------
　　typedef unsigned char tByte;
　　typedef unsigned int  tWord;
　　typedef unsigned long tLong;
　　// Misc #defines
　　#ifndef TRUE
　　#define FALSE 0
　　#define TRUE (!FALSE)
　　#endif
　　#define RETURN_NORMAL (bit) 0
　　#define RETURN_ERROR (bit) 1
　　//------------------------------------------------ ------------------
　　// Interrupts
　　// - see Chapter 13.  
　　//------------------------------------------------ ------------------
　　// Generic 8051/52 timer interrupts (used in most schedulers)
　　#define INTERRUPT_Timer_0_Overflow 1
　　#define INTERRUPT_Timer_1_Overflow 3
　　#define INTERRUPT_Timer_2_Overflow 5
　　// Additional interrupts (used in shared-clock schedulers)
　　#define INTERRUPT_EXTERNAL_0 0
　　#define INTERRUPT_EXTERNAL_1 2
　　#define INTERRUPT_UART_Rx_Tx 4
　　#define INTERRUPT_CAN_c515c 17
　　//------------------------------------------------ ------------------
　　// Error codes 
　　// - see Chapter 14. 
　　//------------------------------------------------ ------------------
　　#define ERROR_SCH_TOO_MANY_TASKS (1)
　　#define ERROR_SCH_CANNOT_DELETE_TASK (2)
　　#define ERROR_SCH_WAITING_FOR_SLAVE_TO_ACK (3)
　　#define ERROR_SCH_WAITING_FOR_START_COMMAND_FROM_MASTER (3)
　　#define ERROR_SCH_ONE_OR_MORE_SLAVES_DID_NOT_START (4)
　　#define ERROR_SCH_LOST_SLAVE (5)
　　#define ERROR_SCH_CAN_BUS_ERROR (6)
　　#define ERROR_I2C_WRITE_BYTE (10)
　　#define ERROR_I2C_READ_BYTE (11)
　　#define ERROR_I2C_WRITE_BYTE_AT24C64 (12)
　　#define ERROR_I2C_READ_BYTE_AT24C64 (13)
　　#define ERROR_I2C_DS1621 (14)
　　#define ERROR_USART_TI (21)
　　#define ERROR_USART_WRITE_CHAR (22)
　　#define ERROR_SPI_EXCHANGE_BYTES_TIMEOUT (31)
　　#define ERROR_SPI_X25_TIMEOUT (32)
　　#define ERROR_SPI_MAX1110_TIMEOUT (33)
　　#define ERROR_ADC_MAX150_TIMEOUT (44)
　　#endif
　　/*------------------------------------------------ ------------------*-
　　---- END OF FILE -------------------------------------------------
　　-*------------------------------------------------ ------------------*/   //头文件 PID_f1.H
　　// ------ Public function prototypes -------------------------------
　　float PID_Control(float,float);   
　　// ------ Public constants -----------------------------------------
　　#define SAMPLE_RATE (1)        // Hz
　　/*------------------------------------------------ ------------------*-
　　---- END OF FILE -------------------------------------------------
　　-*------------------------------------------------ ------------------*/