PID算法调节C51程序(5)

typedef structPIDValue
{
uint32 Ek_Uint32[3];//差值保存，给定和反馈的差值
uint8 EkFlag_Uint8[3];//符号，1则对应的Ek[i]为负数，0为对应的Ek[i]为正数
uint8KP_Uint8;
uint8KI_Uint8;
uint8KD_Uint8;
uint8B_Uint8;//死区电压

uint8KP;//显示修改的时候用
uint8KI;//
uint8KD;//
uint8B;//
uint16 Uk_Uint16;//上一时刻的控制电压
}PIDValueStr;

PIDValueStr xdata PID;

voidPIDProcess(void)
{
uint32 idata Temp[3]; //
uint32 idata PostSum; //正数和
uint32 idata NegSum;//负数和
Temp[0] = 0;
Temp[1] = 0;
Temp[2] = 0;
PostSum = 0;
NegSum = 0;
if( ADPool.Value_Uint16[UINADCH] > ADPool.Value_Uint16[UFADCH] ) //给定大于反馈,则EK为正数
{
Temp[0] = ADPool.Value_Uint16[UINADCH] - ADPool.Value_Uint16[UFADCH];//计算Ek[0]
if( Temp[0] > PID.B_Uint8 )
{
//数值移位
PID.Ek_Uint32[2] = PID.Ek_Uint32[1];
PID.Ek_Uint32[1] = PID.Ek_Uint32[0];
PID.Ek_Uint32[0] = Temp[0];
//符号移位
PID.EkFlag_Uint8[2] = PID.EkFlag_Uint8[1];
PID.EkFlag_Uint8[1] = PID.EkFlag_Uint8[0];
PID.EkFlag_Uint8[0] = 0;//当前EK为正数
Temp[0] = (uint32)PID.KP_Uint8 * PID.Ek_Uint32[0];// KP*EK0
Temp[1] = (uint32)PID.KI_Uint8 * PID.Ek_Uint32[1];// KI*EK1
Temp[2] = (uint32)PID.KD_Uint8 * PID.Ek_Uint32[2];// KD*EK2
}
}
else//反馈大于给定
{
Temp[0] = ADPool.Value_Uint16[UFADCH] - ADPool.Value_Uint16[UINADCH];//计算Ek[0]
if( Temp[0] > PID.B_Uint8 )
{
//数值移位
PID.Ek_Uint32[2] = PID.Ek_Uint32[1];
PID.Ek_Uint32[1] = PID.Ek_Uint32[0];
PID.Ek_Uint32[0] = Temp[0];
//符号移位
PID.EkFlag_Uint8[2] = PID.EkFlag_Uint8[1];
PID.EkFlag_Uint8[1] = PID.EkFlag_Uint8[0];
PID.EkFlag_Uint8[0] = 1;//当前EK为负数
Temp[0] = (uint32)PID.KP_Uint8 * PID.Ek_Uint32[0];// KP*EK0
Temp[1] = (uint32)PID.KI_Uint8 * PID.Ek_Uint32[1];// KI*EK1
Temp[2] = (uint32)PID.KD_Uint8 * PID.Ek_Uint32[2];// KD*EK2
}
}


if(PID.EkFlag_Uint8[0]==0)
{
PostSum += Temp[0];//正数和
}
else
{
NegSum += Temp[0];//负数和
}// KP*EK0
if(PID.EkFlag_Uint8[1]!=0)
{
PostSum += Temp[1];//正数和
}
else
{
NegSum += Temp[1];//负数和
}// - kI * EK1
if(PID.EkFlag_Uint8[2]==0)
{
PostSum += Temp[2];//正数和
}
else
{
NegSum += Temp[2];//负数和
}// KD * EK2
PostSum += (uint32)PID.Uk_Uint16;//
if( PostSum > NegSum )// 是否控制量为正数
{
Temp[0] = PostSum - NegSum;
if( Temp[0] < (uint32)ADPool.Value_Uint16[UMAXADCH] )//小于限幅值则为计算值输出
{
PID.Uk_Uint16 = (uint16)Temp[0];
}
else
{
PID.Uk_Uint16 = ADPool.Value_Uint16[UMAXADCH];//否则为限幅值输出
}
}
else//控制量输出为负数，则输出0
{
PID.Uk_Uint16 = 0;
}
}