积分分离法pid控制设计 程序（Integral separation method PID control design procedure）.docVIP

积分分离法pid控制设计 程序（Integral separation method PID control design procedure） /***************************************** File name: ACC3-2-1.C Function Description: the function of digital PID regulator is realized. *****************************************/ #include reg51.h #include absacc.h #include math.h /***************************************** Macro definition *****************************************/ #define uchar unsigned char #define uint unsigned int #define ADC_7 XBYTE[0x7ff0] / / definition ADC IO address #define DAC_1 XBYTE[0x7ff2] / / D/A IO to define the first road /***************************************** Global variable definition *****************************************/ Sbit STR = P1^7; / / define A/D start signal Sbit DIN0 = P1^0; / / statement synchronization signal Uint data time; / / declaring the variable for the time Uchar data t0_h, t0_l; / / initial storage timer 0 Char TK=5; / / statement / / sampling period variable sampling period = TK*10ms Char TC; //TK variables Float kp=0.20; / / proportional coefficient Char ti=30; / / integral coefficient Char td=1; / / differential coefficient Char IBAND=32; / / integral value Char EK; / / current sampling deviation Char EK_1; / / the last value deviation sampling Char AEK; / / error variation Char UK; / / D/A output current Int ZEK; /***************************************** Main function *****************************************/ Void main (void) { TMOD = 0x01; Time = 10; / / timing 10ms T0_h = /256 (65536-500*time); / / 0 timer initial value calculation T0_l = (65536-500*time)%256; T0_l = t0_l+20; / / timing error correction for initial reload caused TH0 = t0_h; TL0 = t0_l; IT1 = 1; / / edge triggered interruption EX1 = 1; / / open external interrupt 1 ET0 = 1; / / open timer interrupt 0 TR0 = 1; / / start timer TC = 1; DAC_1= 0x80; //D/A cleared EK=EK_1=0; / / variable reset AEK=UK=0; ZEK=0; EA = 1; / / open interrupt While (1); } /********************************************** Function name: I