14.2.2增量式pid控制.txt

本上载源码为用51汇编语言实现pid控制的发生的程序

DATA 	EQU		30H
INCPID:
MOV	R1,#DATA					
MQV 	R0,#.COEFUR

SETB	3AH						
MOV	A,@R0
MOV	R6,A
INC		R0						
MOV	A,@R0
MOV	R2,A
INC		R0						
MOV	A,@R0
MOV	R3,A
DEC		R0						
DEC		R0
MOV	A,@R1
MOV	R4,A
INC		R1						
MOV	A,@R1
DEC		R1
DEC		R1
MOV	A,R6
MOV	C,ACC.7
MOV	38H,C					
XRL		A,R7
JNB		ACC.7,FA1
CPL		3AH						
FA1:
MOV	A,R6
MOV	C,ACC.6				
MOV	ACC.7,C
MOV	R6,A
MOV	A,R7
MOV	C,ACC.6
MOV	ACC.7,C
MOV	R7,A
CLR		C					
MOV	A,R6
SUBB	A,R7
JZ		FA2
CLR		PWS.5					
CLR		39H
JB		ACC.7,FA5
CJNE	R4,#0,FA6
CJNE	R5,#0,FA6
FA2:					
JB		3AH,FA8
MOV	A,R3					
ADD		A,R5
MOV	R3,A
MOV	A,R2
ADDC	A,R4
MOV	R2,A
JNC		FA4
SETB	39H						
CLR		C
FA3:
CLR		PWS.5					
FSDT:				
JC		FS2
MOV	C,39H					
JB		PWS.5,FS1
MOV	A,R2
RRC		A
MOV	R2,A
MOV	A,R3
RRC		A
MOV	R3,A
INC		R6					
RET
FS1:								
MOV	A,R4
RRC		A						
MOV	R4,A
MOV	A,R5
RRC		A						
MOV	R5,A
INC		R7
RET
FS2:								
MOV	A,R2
JNZ		FS4
CJNE	R3,#0,FS5
MOV	R6,#41H					
FS3:
RET
FS4:
JB		ACC.7,FS3
FS5:
MOV	C,PWS.5
MOV	A,R3
RLC		A						
MOV	R3,A
MOV	A,R2
RLC		A					
MOV	R2,A
CLR		PWS.5
DEC		R6
SJMP	FS2
FA4:
CJNE	R2,#0,.FAA
CJNE	R3,#0,FAA
MOV	R4,#41H					
RET
FAA:								
MOV	A,R6
MOV	C,38H
MOV	ACC.7,C
XCH		A,R4						
MOV	R6,A
RET
FA5:
CJNE	R2,#0,.FA7
CJNE	R3,#0,FA7
MOV	A,R7
MOV	R6,A
SJMP	FA2						
FA6:
CPL		PWS.5
FA7:
CLR		C
JC		FS2
MOV	C,39H					
JB		PWS.5,FS6
MOV	A,R2
RRC		A						
MOV	R2,A
MOV	A,R3
RRC		A						
MOV	R3,A
INC		R6
RET
FS6:							
MOV	A,R4
RRC		A
MOV	R4,A
MOV	A,R5
RRC		A
MOV	R5,A
INC		R7
RET
FS7:								
MOV	A,R2
JNZ		FS4
CJNE	R3,#0,FS10
MOV	R6,#41H					
FS8:
RET
FS9:
JB		ACC.7,FS8
FS10:
MOV	C,PWS.5
MOV	A,R3
RLC		A						
MOV	R3,A
MOV	A,R2
RLC		A						
MOV	R2,A
CLR		PWS.5
DEC		R6
SJMP	FS7
SJMP	FA1
FA8:								
MOV	A,R3
CLR		C						
SUBB	A,R5
MOV	R3,A
MOV	A,R2
SUBB	A,R4
MOV	R2,A
JNC		FA9
CLR		A						
CLR		C						
SUBB	A,R3
MOV	R3,A
CLR		A
SUBB	A,R2
MOV	R2,A
CPL		38H						
SETB	C
SJMP	FA3
MOV	R1,#BIASED				
LCALL	FSTR
MOV	R0,#BIASED
MOV	R1,#BIASE1				
MOV	A,R3						
ADD		A,R5
MOV	R3,A
MOV	A,R2
ADDC	A,R4
MOV	R2,A
JNC		FA4
SETB	39H						
CLR		C
FA3:
CLR		PWS.5
FSDT:				
JC		FS2
MOV	C,39H					
JB		PWS.5,FS1
MOV	A,R2
RRC		A						
MOV	R2,A
MOV	A,R3
RRC		A						
MOV	R3,A
INC		R6
RET
FS1:								
MOV	A,R4
RRC		A
MOV	R4,A
MOV	A,R5
RRC		A
MOV	R5,A
INC		R7
RET
FS2:								
MOV	A,R2
JNZ		FS4
CJNE	R3,#0,FS5
MOV	R6,#41H					
FS3:
RET
FS4:
JB		ACC.7,FS3
FS5:
MOV	C,PWS.5
MOV	A,R3
RLC		A						
MOV	R3,A
MOV	A,R2
RLC		A						
MOV	R2,A
CLR		PWS.5
DEC		R6						
SJMP	FS2
FA4:
CJNE	R2,#0,.FAA
CJNE	R3,#0,FAA
MOV	R4,#41H					
RET
FAA:								
MOV	A,R6
MOV	C,38H
MOV	ACC.7,C
XCH		A,R4					
MOV	R6,A
RET
FA5:
CJNE	R2,#0,.FA7
CJNE	R3,#0,FA7
MOV	A,R7
MOV	R6,A
SJMP	FA2
FA6:
CPL		PWS.5
FA7:
CLR		C
JC		FS2
MOV	C,39H					
JB		PWS.5,FS6
MOV	A,R2
RRC		A						
MOV	R2,A
MOV	A,R3
RRC		A						
MOV	R3,A
INC		R6
RET
FS6:								
MOV	A,R4
RRC		A						
MOV	R4,A
MOV	A,R5
RRC		A						
MOV	R5,A
INC		R7
RET
FS7:								
MOV	A,R2
JNZ		FS4
CJNE	R3,#0,FS10
MOV	R6,#41H					
FS8:
RET
FS9:
JB		ACC.7,FS8
FS10:
MOV	C,PWS.5
MOV	A,R3
RLC		A					
MOV	R3,A
MOV	A,R2
RLC		A						
MOV	R2,A
CLR		PWS.5
DEC		R6
SJMP	FS7
SJMP	FA1
FA8:								
MOV	A,R3
CLR		C
SUBB	A,R5
MOV	R3,A
MOV	A,R2
SUBB	A,R4
MOV	R2,A
JNC		FA9
CLR		A						
CLR		C						
SUBB	A,R3
MOV	R3,A
CLR		A
SUBB	A,R2
MOV	R2,A
CPL		38H						
SETB	C
SJMP	FA3
MOV	R1,#MIDLE1				
LCALL	FSTR
MOV 	R0,#COEFKP				
LCALL 	FMUL					
MOV 	R0,#MIDLE2				
LCALL 	FSTR
MOV 	R0,#COEFKI				
MOV	R1,#BIASED
LCALL 	FMUL					
MOV	R1,#MIDLE3				
LCALL 	FSTR
MOV 	R0,#BIASPP		
LCALL 	FADD					
MOV	R1,#MIDEL2	
LCALL 	FSTR
MOV 	R0,#MIDLE1				
MOV	R1,#BIASE 1
MOV	A,R3						
ADD		A,R5
MOV	R3,A
MOV	A,R2
ADDC	A,R4
MOV	R2,A
JNC		FA4
SETB	39H						
CLR		C
FA3:
CLR		PWS.5
FSDT:				
JC		FS2
MOV	C,39H					
JB		PWS.5,FS1
MOV	A,R2
RRC		A
MOV	R2,A
MOV	A,R3
RRC		A
MOV	R3,A
INC		R6
RET
FS1:								
MOV	A,R4
RRC		A
MOV	R4,A
MOV	A,R5
RRC		A
MOV	R5,A
INC		R7
RET
FS2:								
MOV	A,R2
JNZ		FS4
CJNE	R3,#0,FS5
MOV	R6,#41H					
FS3:
RET
FS4:
JB		ACC.7,FS3
FS5:
MOV	C,PWS.5
MOV	A,R3
RLC		A						
MOV	R3,A
MOV	A,R2
RLC		A						
MOV	R2,A
CLR		PWS.5
DEC		R6
SJMP	FS2
FA4:
CJNE	R2,#0,.FAA
CJNE	R3,#0,FAA
MOV	R4,#41H				
RET
FAA:								
MOV	A,R6
MOV	C,38H
MOV	ACC.7,C
XCH		A,R4						
MOV	R6,A
RET
FA5:
CJNE	R2,#0,.FA7
CJNE	R3,#0,FA7
MOV	A,R7
MOV	R6,A
SJMP	FA2						
FA6:
CPL		PWS.5					
FA7:
CLR		C						
JC		FS2
MOV	C,39H					
JB		PWS.5,FS6
MOV	A,R2
RRC		A					
MOV	R2,A
MOV	A,R3
RRC		A						
MOV	R3,A
INC		R6
RET
FS6:								
MOV	A,R4
RRC		A						
MOV	R4,A
MOV	A,R5
RRC		A					
MOV	R5,A
INC		R7
RET
FS7:								
MOV	A,R2
JNZ		FS4
CJNE	R3,#0,FS10
MOV	R6,#41H					
FS8:
RET
FS9:
JB		ACC.7,FS8
FS10:
MOV	C,PWS.5
MOV	A,R3
RLC		A						
MOV	R3,A
MOV	A,R2
RLC		A						
MOV	R2,A
CLR		PWS.5
DEC		R6
SJMP	FS7
SJMP	FA1
FA8:							
MOV	A,R3
CLR		C
SUBB	A,R5
MOV	R3,A
MOV	A,R2
SUBB	A,R4
MOV	R2,A
JNC		FA9
CLR		A						
CLR		C					
SUBB	A,R3
MOV	R3,A
CLR		A
SUBB	A,R2
MOV	R2,A
CPL		38H						
SETB	C
SJMP	FA3
MOV 	R1,#MIDLE3
LCALL	FSTR
MOV 	R0,#BIASE2				 
LCALL 	FADD
MOV 	R1,#MIDLE3
LCALL 	FSTR
MOV	R0,#COEFKD				
LCALL	FMUL
.MOV 	R1,#MIDLE1
LCALL 	FSRT
MOV 	R0,#MIDLE2				
LCALL 	FADD
MOV 	R1,#BIAPID			
LCALL 	FSTR
MOV 	R0,#BIAPID
LCALL 	FINT
MOV 	52H,4FH					 
MOV 	53H,50H
MOV 	54H,51H
MOV 	4FH,4CH					 
MOV 	50H,4DH
MOV 	51H,4EH
RET