单片机PID算法 源程序

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/*中值滤波算法*/ for (j=0;j<N-1;j++) { for (i=0;i<N-j-1;i++) { if ( ADC_Data[i]>ADC_Data[i+1] ) { temp = ADC_Data[i]; ADC_Data[i] = ADC_Data[i+1]; ADC_Data[i+1] = temp; } } } data1 = ADC_Data[N/2] ; /**************************************************************************** * 名称:k_arithmetic() * 功能:将偏差经过一比例值后得到一个控制量 * 入口参数: 无 * 出口参数: D_new 比例后的D新值 * 说明:无 ****************************************************************************/ uint32 k_arithmetic(uint32 samplingDATA) { uint32 setpoint = 143; //设定值,15cm对应的数字量 int ek ; uint8 da_data ; int D_new; //D/A值 int D_inc; float kp=3.2,ki=0.01,kd=10; //比例值k=(D/A)max / |e|max ek = setpoint-samplingDATA; D_inc = kp*(ek-ek_1)+ki*ek+kd*(ek-2*ek_1+ek_2); D_new = D_old+D_inc ; if(D_new>255)da_data = 255; else if(D_new<0)da_data = 0; else da_data = D_new; D_old = D_new; ek_2 = ek_1; ek_1 = ek; return(da_data); }
3 液位数字PID计算机控制系统实验.rar
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<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6275dd88602a7856fe11a215/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6275dd88602a7856fe11a215/bg1.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">&#23454;&#39564;<span class="_ _0"> </span><span class="ff2 sc1">3 </span>&#28082;&#20301;&#25968;&#23383;<span class="_ _0"> </span><span class="ff2 sc1">PID<span class="_ _0"> </span></span>&#25511;&#21046;&#21450;&#21442;&#25968;&#25972;&#23450;</div><div class="t m0 x2 h4 y3 ff1 fs1 fc0 sc1 ls0 ws0">&#25552;&#31034;<span class="_ _1"></span>&#65306;&#24076;<span class="_ _1"></span>&#26395;&#22823;<span class="_ _1"></span>&#23478;&#22312;<span class="_ _1"></span>&#20570;&#23454;<span class="_ _1"></span>&#39564;&#20043;<span class="_ _1"></span>&#21069;&#20180;<span class="_ _1"></span>&#32454;&#38405;<span class="_ _1"></span>&#35835;&#23454;<span class="_ _1"></span>&#39564;&#25351;<span class="_ _1"></span>&#23548;&#20070;<span class="_ _1"></span>&#65292;&#24182;<span class="_ 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class="t m0 x2 h4 y17 ff1 fs1 fc0 sc1 ls0 ws0">&#19968;&#33324;&#35328;<span class="_ _1"></span>&#20043;&#65292;&#29992;&#27604;&#20363;<span class="_ _1"></span>&#65288;<span class="ff3">P<span class="_ _1"></span></span>&#65289;&#35843;&#33410;&#22120;<span class="_ _1"></span>&#30340;&#31995;&#32479;&#26159;<span class="_ _1"></span>&#19968;&#20010;&#26377;&#24046;&#31995;<span class="_ _1"></span>&#32479;&#65292;&#27604;&#20363;<span class="_ _1"></span>&#24230;<span class="_ _1"></span>&#948;<span class="_ _1"></span>&#30340;&#22823;&#23567;&#19981;&#20165;<span class="_ _1"></span>&#20250;&#24433;&#21709;&#21040;<span class="_ _1"></span>&#20313;&#24046;</div><div class="t m0 x3 h4 y18 ff1 fs1 fc0 sc1 ls0 ws0">&#30340;&#22823;<span class="_ _1"></span>&#23567;&#65292;&#32780;<span class="_ _1"></span>&#19988;&#20063;<span class="_ _1"></span>&#19982;&#31995;&#32479;&#30340;<span class="_ _1"></span>&#21160;&#24577;<span class="_ _1"></span>&#24615;&#33021;&#23494;<span class="_ 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