pi.h

基于DsPic30F4011的高精度位置伺服控制系统

typedef struct{
	long 	qdSum;			
	short	qKp;
	short	qK1_p;
	short 	qKi;
	short  	qKc;
	short	qOutMax;
	short	qOutMin;
	short	qInRef;
	short	qInMeas;
	short	qInErr;			//本次偏差
	short	qInErr_1;		//前一次偏差
	short	qOut;			//本次输出
	short	qOut_1;			//前一次输出
	}tPIParm;

EXTERN	tPIParm PIParmPosition;
EXTERN	tPIParm PIParmVelocity;
EXTERN	tPIParm PIParmCurrent;

void InitPI( tPIParm *pParm);
void CalcPosP( tPIParm *pParm);