pid_wf1.lst

时间触发嵌入式系统设计模式:使用8051系列微控制器开发可靠应用

C51 COMPILER V6.10  PID_WF1                                                                04/19/2001 12:09:40 PAGE 1   


C51 COMPILER V6.10, COMPILATION OF MODULE PID_WF1
OBJECT MODULE PLACED IN .\PID_wf1.OBJ
COMPILER INVOKED BY: C:\KEIL\C51\BIN\C51.EXE .\PID_wf1.c BROWSE DEBUG OBJECTEXTEND

stmt level    source

   1          /*------------------------------------------------------------------*-
   2          
   3             PID_wf1.C (v1.00)
   4          
   5            ------------------------------------------------------------------
   6          
   7             Simple PID control implementation, with anti-windup protection. 
   8             
   9             See Chapter 35 for details.
  10          
  11               
  12             COPYRIGHT
  13             ---------
  14          
  15             This code is from the book:
  16          
  17             PATTERNS FOR TIME-TRIGGERED EMBEDDED SYSTEMS by Michael J. Pont 
  18             [Pearson Education, 2001; ISBN: 0-201-33138-1].
  19          
  20             This code is copyright (c) 2001 by Michael J. Pont.
  21           
  22             See book for copyright details and other information.
  23          
  24          -*------------------------------------------------------------------*/
  25          
  26          #include "PID_wf1.h"
  27          
  28          // ------ Private constants ----------------------------------------
  29          
  30          #define PID_KP (0.2f)             // Proportional gain  
  31          #define PID_KI (0.10f)            // Integral gain          
  32          #define PID_KD (0.10f)            // Differential gain  
  33          
  34          #define PID_WINDUP_PROTECTION (1) // Set to TRUE (1) or FALSE (0)
  35          
  36          #define PID_MAX (1.0f)            // Maximum PID controller output
  37          #define PID_MIN (0.0f)            // Minimum PID controller output
  38          
  39          // ------ Private variable definitions------------------------------
  40          
  41          static float Sum_G;       // Integrator component
  42          static float Old_error_G; // Previous error value
  43          
  44          /*------------------------------------------------------------------*-
  45          
  46            PID_Control()
  47          
  48            Simple floating-point version.
  49            
  50            See text for details.
  51            
  52          -*------------------------------------------------------------------*/
  53          float PID_Control(float Error, float Control_old)
  54             {
  55   1         // Proportional term   
C51 COMPILER V6.10  PID_WF1                                                                04/19/2001 12:09:40 PAGE 2   

  56   1         float Control_new = Control_old + (PID_KP * Error);
  57   1      
  58   1         // Integral term
  59   1         Sum_G += Error;
  60   1         Control_new += PID_KI * Sum_G;
  61   1      
  62   1         // Differential term
  63   1         Control_new += (PID_KD * SAMPLE_RATE * (Error - Old_error_G));
  64   1         
  65   1         // Optional windup protection - see text                                                        
  66   1         if (PID_WINDUP_PROTECTION)
  67   1            { 
  68   2            if ((Control_new > PID_MAX) || (Control_new < PID_MIN)) 
  69   2               {
  70   3               Sum_G -= Error;  // Don't increase Sum... 
  71   3               }
  72   2            }
  73   1      
  74   1         // Control_new cannot exceed PID_MAX or fall below PID_MIN    
  75   1         if (Control_new > PID_MAX) 
  76   1            {
  77   2            Control_new = PID_MAX; 
  78   2            }
  79   1         else
  80   1            {
  81   2            if (Control_new < PID_MIN) 
  82   2               {
  83   3               Control_new = PID_MIN; 
  84   3               }
  85   2            }    
  86   1       
  87   1          // Store error value
  88   1          Old_error_G = Error;
  89   1      
  90   1          return Control_new;
  91   1          }
  92          
  93          /*------------------------------------------------------------------*-
  94            ---- END OF FILE -------------------------------------------------
  95          -*------------------------------------------------------------------*/


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    342    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      8      12
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE.  0 WARNING(S),  0 ERROR(S)