#include #include //C语言的memset函数头文件
# defineunsignedintuinttypedefstructpid {双设置; //设置目标定义值
双保; //比例常数Proportional Const
双集成; //积分常数Integral Const
双延迟; //微分常数Derivative Const
双光栅; //Error[-1]
双预览错误器; //Error[-2]
双和错误; //Sums of Errors
(PID;
/*====================================
====================================PID计算部分=====
=====================================
双精度下一点(PID * PP )。
{双错误,错误;
Error=pp-SetPoint - NextPoint; //偏差
pp-美丽的魔镜=Error; //点
dError=Error - pp-LastError; //当前微分
pp-PrevError=pp-LastError;
pp-LastError=Error; 返回(PP-proportion * error//比例项
);
() ) ) ) () ) ) ) ) ) ) ) ) ) ) ) ) )==============================
==================================初始化initializepidstructurepid参数
=====================================
语音识别(PID * PP )是
{
memset(PP,0,sizeof ) ) PID );
() ) ) ) () ) ) ) ) ) ) ) ) ) ) ) ) )================================
===================================main program的主程序=========
=====================================
双传感器(void )//dummy传感器功能
{返回100.0;
//void actuator (双精度增量)//Dummy Actuator Function//{} ) }
语音主(语音) {
PID sPID; //PID控制结构
双路由; //PIDresponse () output () ) ) ) ) ) )。
双精灵; //PID反馈(输入) )。
PIDinit(spid;//初始化结构
sPID.Proportion=0.5; //Set PID Coefficients
sPID.Integral=0.5;
sPID.Derivative=0.0;
sPID.SetPoint=100.0;//设置PID setpoint
for (; ()//
mock up of PID处理
rIn=sensor (;//读取输入
路由=PID calc (spid,rIn ); //performpidinteration//actuator (rout )//Effect Needed Changes
}
}