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PID 的代码
gui_pid.c
/*
*********************************************************************************************************
* uC/GUI
* Univers
pid.c.txt
;********增量式PID控制算法程序***********
;T、TD、TI、KP依次从30H，33H，36H，39H开始。
;A，B，C的值依次存在BLOCK1，BLOCK2，BLOCK3的地址里
; 这里R(k)给的是定值
;
ORG 0000H
BLOCK1 EQU 43H ;A,B ,C
BLOCK2 EQU 46H
BLOCK3 EQU 49H
UK EQU
handcode_pid.c
#include "handcode_pid.h"
struct
{
float K;
float Ti;
float Td;
float Ts;
float b;
float N;
float state_I;
float state_y;
float state_Dk;
} pid_para
handcode_pid.h
#ifndef HANDCODE_PID_H
#define HANDCODE_PID_H
extern void
pid_controller_init(void);
extern void
pid_controller_step(float y, float uc, float *u_out);
#endif /* HANDCODE_PID_H */
a_pid_cont.mdl
Model {
Name "a_pid_cont"
Version 6.4
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
ComputedModel
pid.m51
BL51 BANKED LINKER/LOCATER V5.03 06/12/2008 11:06:12 PAGE 1
BL51 BANKED LINKER/LOCATER V5.03, INVOKED BY:
C:\KEIL\C51\BIN\BL51.EXE stc89c
pid_opt.bak
### uVision2 Project, (C) Keil Software
### Do not modify !
cExt (*.c)
aExt (*.s*; *.src; *.a*)
oExt (*.obj)
lExt (*.lib)
tExt (*.txt; *.h; *.inc)
pExt (*.plm)
CppX (*.cpp)
DaveTm {
88888pid.lst
C51 COMPILER V7.06 88888PID 06/12/2008 11:06:11 PAGE 1
C51 COMPILER V7.06, COMPILATION OF MODULE 88888PID
OBJECT MODULE PLACED I
pid.uv2
### uVision2 Project, (C) Keil Software
### Do not modify !
Target (Target 1), 0x0000 // Tools: 'MCS-51'
Group (Source Group 1)
File 1,1, 0x0
File 1