pid.h

arm7 sample code, some demo for arm7 of linux

/****************************************Copyright (c)**************************************************
**                               Guangzhou ZHIYUAN electronics Co.,LTD.
**                                     
**                                 http://www.embedtools.com
**
**--------------File Info-------------------------------------------------------------------------------
** File Name:          Pid.h
** Last modified Date: 2006-11-18
** Last Version:       v1.0
** Description:        PID增量式算法头文件
** 
**------------------------------------------------------------------------------------------------------
** Created By:         Zhou Shaogang
** Created date:       2006-11-18
** Version:            v1.0
** Descriptions:
**
**------------------------------------------------------------------------------------------------------
** Modified by:
** Modified date:
** Version:
** Description:
**
********************************************************************************************************/

#ifndef __PID_H
#define __PID_H

/************************ User Definitioans ************************/
#define PID_PC_CONST_EN  (1)           //允许上位机改PID参数

#define Kslp      (880)                //1/(Ce*Φ)
#define Us        (4.7)                //电源 5V-0.3V(二极管)
#define Cyc_Tck   (PWM_Cycle)          //PWM周期脉冲数
#define Dlt_Dty_Tck (Cyc_Tck/(2*Us*Kslp))//转矩不变，每加快一圈，需增加的占空比

#define T  (Tsmp)                      //采样周期
#define Kp (0.5)                       //比例常数
#define Ti (3*T)                       //积分常数
#define Td (0.1*T)                     //微分常数

#define Ka (Kp+T/Ti+Td/T)              //A
#define Kb ((-1)*(Kp+2*Td/T))          //B
#define Kc (Td/T)                      //C

/************************ Declearations ************************/
extern long Ka_PC, Kb_PC, Kc_PC;   


/************************************************************************************
** Function name: PID_DltDuty
** Descriptions:  增量式PID算法
** Input:         E: 偏差值
** Output:        PWM占空比的脉冲数
** Created by:    Zhou Shaogang
** Created Date:  2006-11-18
**----------------------------------------------------------------------------------
** Modified by:
** Modified Date: 
**----------------------------------------------------------------------------------
************************************************************************************/
extern long PID_DltDuty(long E);

#endif