pid.c

基于intel8032的自动恒温采集系统

#include<PID.H>
unsigned char PID_regulate(float set_da,float t)
{
  float ei;
  unsigned char da_out,u0;
  static float ei_old=0,eij=0;
  u0=128;
  ei=set_da-t;
  eij=ei+eij;
  da_out=4.143*ei+3.99*eij+1.155*(ei-ei_old)+u0;
  ei_old=ei;
  return(da_out);
}