#include?“pid.h“
#include?“math.h“
#include?“stdio.h“
struct?_pid
{??????
	int?SetSpeed;????????????//定義設定值?????
	int?ActualSpeed;????????//定義實際值?????
	int?err;????????????????//定義偏差值??????
	int?err_last;????????????//定義上一個偏差值??????
	float?KpKiKd;????????????//定義比例、積分、微分系數??????
	float?voltage;????????????//定義電壓值（控制執行器的變量）?????
	int?integral;????????????//定義積分值?????
	float?umax;?????
	float?umin;?
}pid;

void?PID_init（void）
{
	pid.SetSpeed=500;?	
	pid.ActualSpeed=0;?????
	pid.err=0;??????
	pid.err_last=0;?????
	pid.voltage=0;????
	pid.integral=300;?????
	pid.Kp=3.2;??????//?0.4????????????//?1.95??2.4????0.2???????????0.2????0.2??????0.2
	pid.Ki=1.5;???//????1.5??積分速度?//0.9????????0.8???????????0.74????0.78??????0.5（vpp=14v）
	pid.Kd=0;//??????????????????//????????0.00015??????0
	pid.umax=1500;?????
	pid.umin=-1500;???????????????
}

unsigned?int?pid_ctrol（unsigned?int?now_speedunsigned?int?set_speed）
{
	static?float?last=500;
	int?index;
	pid.ActualSpeed=now_speed;??????
	pid.SetSpeed=set_speed;??????
	pid.err=pid.SetSpeed-pid.ActualSpeed;
	if（pid.ActualSpeed>pid.umax）??//灰色底色表示抗積分飽和的實現?????
	{??????????
		if（abs（pid.err）>944）??????//藍色標注為積分分離過程?????????
		{??????????????
			index=0;?????????
		}
		else
		{??????????????
			index=1;??????????????
			if（pid.err<0）?????????????
			{????????????????
				pid.integral+=pid.err;?????????????
			}?????????
		}??????
	}
	else?if（pid.ActualSpeed	{??????????
		if（abs（pid.err）>500）??????//積分分離過程?????????
		{??????????????
			index=0;?????????
		}
		else
		{??????????????
			index=1;??????????????
			if（pid.err>0）?????????????
			{??????????????
				pid.integral+=pid.err;?????????????
			}?????????
		}?????
	}
	else
	{??

			index=1;??????????????
			pid.integral+=pid.err;
	???//?if（pid1.err>200）??	
		}???????

if（pid.integral>500）?pid.integral=500;
if（pid.integral<-500）?pid.integral=-500;
	pid.voltage=?（float）（last）+pid.Kp*（float）pid.err+index*pid.Ki*（float）pid.integral+pid.Kd*（float）（pid.err-pid.err_last）;
		
	last=pid.voltage;
	pid.err_last=pid.err;
		if（pid.voltage>=1000）?pid.voltage=1000;
		else	if（pid.voltage<=50）?pid.voltage=50;
????return?（unsigned?int）pid.voltage;????
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-06-16?21:03??基于51單片機倉庫溫度監控系統仿真設計\
?????文件??????142299??2017-04-27?22:14??基于51單片機倉庫溫度監控系統仿真設計\pd.DSN
?????文件????????1102??2017-06-16?21:03??基于51單片機倉庫溫度監控系統仿真設計\pd.PWI
?????文件????????2378??2017-01-16?21:19??基于51單片機倉庫溫度監控系統仿真設計\pid.c
?????文件?????????390??2017-01-16?15:57??基于51單片機倉庫溫度監控系統仿真設計\pid.h
?????文件????????4779??2017-01-16?21:19??基于51單片機倉庫溫度監控系統仿真設計\pid.LST
?????文件????????6864??2017-01-16?21:19??基于51單片機倉庫溫度監控系統仿真設計\pid.OBJ
?????文件??????????42??2017-01-16?21:19??基于51單片機倉庫溫度監控系統仿真設計\pid.__i
?????目錄???????????0??2017-06-02?00:13??基于51單片機倉庫溫度監控系統仿真設計\project\
?????文件????????1187??2017-04-20?03:47??基于51單片機倉庫溫度監控系統仿真設計\project\ADC0832.h
?????文件????????6629??2017-04-14?23:28??基于51單片機倉庫溫度監控系統仿真設計\project\DHT111.c
?????文件?????????280??2017-04-14?20:09??基于51單片機倉庫溫度監控系統仿真設計\project\DHT111.h
?????文件???????10757??2017-04-20?05:05??基于51單片機倉庫溫度監控系統仿真設計\project\DHT111.LST
?????文件???????10192??2017-04-20?05:05??基于51單片機倉庫溫度監控系統仿真設計\project\DHT111.OBJ
?????文件????????9732??2017-04-14?20:54??基于51單片機倉庫溫度監控系統仿真設計\project\DS18B20.c
?????文件?????????218??2017-04-14?23:24??基于51單片機倉庫溫度監控系統仿真設計\project\DS18B20.h
?????文件???????17240??2017-04-20?05:05??基于51單片機倉庫溫度監控系統仿真設計\project\DS18B20.LST
?????文件????????5463??2017-04-20?05:05??基于51單片機倉庫溫度監控系統仿真設計\project\DS18B20.OBJ
?????文件???????77758??2012-10-07?10:08??基于51單片機倉庫溫度監控系統仿真設計\project\Last?Loaded?SHT11.DBK
?????文件????????2830??2017-04-14?20:06??基于51單片機倉庫溫度監控系統仿真設計\project\lcd.c
?????文件?????????842??2017-04-14?20:04??基于51單片機倉庫溫度監控系統仿真設計\project\lcd.h
?????文件????????5289??2017-04-20?05:05??基于51單片機倉庫溫度監控系統仿真設計\project\lcd.LST
?????文件????????5983??2017-04-20?05:05??基于51單片機倉庫溫度監控系統仿真設計\project\lcd.OBJ
?????文件???????32701??2017-04-27?14:32??基于51單片機倉庫溫度監控系統仿真設計\project\SHT11TEST
?????文件????????5722??2017-04-27?14:32??基于51單片機倉庫溫度監控系統仿真設計\project\SHT11TEST.C
?????文件???????11252??2017-04-27?14:32??基于51單片機倉庫溫度監控系統仿真設計\project\SHT11TEST.hex
?????文件??????????93??2017-04-27?14:32??基于51單片機倉庫溫度監控系統仿真設計\project\SHT11TEST.lnp
?????文件???????10046??2017-04-27?14:32??基于51單片機倉庫溫度監控系統仿真設計\project\SHT11TEST.LST
?????文件???????32923??2017-04-27?14:32??基于51單片機倉庫溫度監控系統仿真設計\project\SHT11TEST.M51
?????文件???????15807??2017-04-27?14:32??基于51單片機倉庫溫度監控系統仿真設計\project\SHT11TEST.OBJ
?????文件?????????191??2017-04-27?15:58??基于51單片機倉庫溫度監控系統仿真設計\project\SHT11TEST.plg
............此處省略18個文件信息