实验五STC15系列单片机快速控制比例双惯性对象的PID控制程序（国外英文资料）.doc

实验五STC15系列单片机快速控制比例双惯性对象的PID控制程序（国外英文资料） / * T7 (step) or T8 (continuous) to T3 for a given, the object board T5 to the T6 for the public, the object board T19 for the feedback, the short circuit J6 inserted, the short circuit block J7 plug On the right hand side, the double dagger throws SW3 at the top, controls the T16 of the object plate at T1, and the T17 of the object board is T17 T18 (which constitutes a biinertial object), and the sampling period is 3ms. A given electric The pressure is displayed by the five digital tubes on the left, and the output voltage of the controlled object is displayed by the five digital tubes on the right (both are 1, 2, 2), and the PID parameter is selected by SW3SW2SW1 SW3 SW2 SW2 SW1 Kp Ki Kd On on on on 0.100 0.00167 0.833 On on off 0.00334 1.67 On off at 0.500 0.00835 4.17 On off off off off $1.000 0.0167 8.33 Off on 0.100 0.00625 0.900 Off on off, on off, off Off off on 0.500 0.0357 5.50 Off off, off off, off off off # include 15f2k. H Include absacc.h The # define u8c unsigned char code / / is stored in the code without the symbol 8 character abbreviation # define u8 unsigned char / / no symbol 8 character abbreviations # define SW XBYTE [0xBFFF] / / 8 dialing input buffer read port address (A14 = 0) The # define Displayseg XBYTE [0x7FFF] / / digital pipe segment code localizer writes port address (A15 = 0) # define Displaybit XBYTE [0xBFFF] / / the digital pipe bitlocker for the port address (A14 = 0) Pound sign define a0r-5.079 / / given 1 (V), -12v- + 0.24 v- + 0.1 V # define Amr 5.069 / / given 2 (V), + 12v--0.24 v- + 4.9 V # define N0r 0x50 / / given 1 corresponds to the AD value, 256 * 0.1/5.0 = 18, a little error # define Nmr 0xbe / / given 2 corresponds to the AD value, 256 * 4.9/5.0 = 243, a little error # define a0m-5.115 / / feedback 1 (V), + 12v--0.24 v- + 4.9 V # define Amm 5.064 / / feedback 2 (V), -12v - + 0.24 V - + 0.1 V The # define N0m 0x53 / / feedback 1 corresponds to the AD value, 256 * 4.9/5.0 =