typedef struct PIDValue
{
uint32 Ek_Uint32[3]; //差值保存，給定和反饋的差值
uint8 EkFlag_Uint8[3]; //符號(hào)，1則對(duì)應(yīng)的Ek[i]為負(fù)數(shù)，0為對(duì)應(yīng)的Ek[i]為正數(shù)
uint8 KP_Uint8;
uint8 KI_Uint8;
uint8 KD_Uint8;
uint8 B_Uint8; //死區(qū)電壓

uint8 KP; //顯示修改的時(shí)候用
uint8 KI; //
uint8 KD; //
uint8 B; //
uint16 Uk_Uint16; //上一時(shí)刻的控制電壓
}PIDValueStr;

PIDValueStr xdata PID;
/*******************************
**PID = Uk + (KP*E(k) - KI*E(k-1) + KD*E(k-2));
********************************/
void PIDProcess(void)
{
uint32 idata Temp[3]; //
uint32 idata PostSum; //正數(shù)和
uint32 idata NegSum; //負(fù)數(shù)和
Temp[0] = 0;
Temp[1] = 0;
Temp[2] = 0;
PostSum = 0;
NegSum = 0;
if( ADPool.Value_Uint16[UINADCH] > ADPool.Value_Uint16[UFADCH] ) //給定大于反饋,則EK為正數(shù)
{
Temp[0] = ADPool.Value_Uint16[UINADCH] - ADPool.Value_Uint16[UFADCH]; //計(jì)算Ek[0]
if( Temp[0] > PID.B_Uint8 )
{
//數(shù)值移位
PID.Ek_Uint32[2] = PID.Ek_Uint32[1];
PID.Ek_Uint32[1] = PID.Ek_Uint32[0];
PID.Ek_Uint32[0] = Temp[0];
//符號(hào)移位
PID.EkFlag_Uint8[2] = PID.EkFlag_Uint8[1];
PID.EkFlag_Uint8[1] = PID.EkFlag_Uint8[0];
PID.EkFlag_Uint8[0] = 0; //當(dāng)前EK為正數(shù)
Temp[0] = (uint32)PID.KP_Uint8 * PID.Ek_Uint32[0]; // KP*EK0
Temp[1] = (uint32)PID.KI_Uint8 * PID.Ek_Uint32[1]; // KI*EK1
Temp[2] = (uint32)PID.KD_Uint8 * PID.Ek_Uint32[2]; // KD*EK2
}
}
else //反饋大于給定
{
Temp[0] = ADPool.Value_Uint16[UFADCH] - ADPool.Value_Uint16[UINADCH]; //計(jì)算Ek[0]
if( Temp[0] > PID.B_Uint8 )
{
//數(shù)值移位
PID.Ek_Uint32[2] = PID.Ek_Uint32[1];
PID.Ek_Uint32[1] = PID.Ek_Uint32[0];
PID.Ek_Uint32[0] = Temp[0];
//符號(hào)移位
PID.EkFlag_Uint8[2] = PID.EkFlag_Uint8[1];
PID.EkFlag_Uint8[1] = PID.EkFlag_Uint8[0];
PID.EkFlag_Uint8[0] = 1; //當(dāng)前EK為負(fù)數(shù)
Temp[0] = (uint32)PID.KP_Uint8 * PID.Ek_Uint32[0]; // KP*EK0
Temp[1] = (uint32)PID.KI_Uint8 * PID.Ek_Uint32[1]; // KI*EK1
Temp[2] = (uint32)PID.KD_Uint8 * PID.Ek_Uint32[2]; // KD*EK2
}
}

/*以下部分代碼是講所有的正數(shù)項(xiàng)疊加，負(fù)數(shù)項(xiàng)疊加*/
if(PID.EkFlag_Uint8[0]==0)
{
PostSum += Temp[0]; //正數(shù)和
}
else
{
NegSum += Temp[0]; //負(fù)數(shù)和
} // KP*EK0
if(PID.EkFlag_Uint8[1]!=0)
{
PostSum += Temp[1]; //正數(shù)和
}
else
{
NegSum += Temp[1]; //負(fù)數(shù)和
} // - kI * EK1
if(PID.EkFlag_Uint8[2]==0)
{
PostSum += Temp[2]; //正數(shù)和
}
else
{
NegSum += Temp[2]; //負(fù)數(shù)和
} // KD * EK2
PostSum += (uint32)PID.Uk_Uint16; //
if( PostSum > NegSum ) // 是否控制量為正數(shù)
{
Temp[0] = PostSum - NegSum;
if( Temp[0] < (uint32)ADPool.Value_Uint16[UMAXADCH] ) //小于限幅值則為計(jì)算值輸出
{
PID.Uk_Uint16 = (uint16)Temp[0];
}
else
{
PID.Uk_Uint16 = ADPool.Value_Uint16[UMAXADCH]; //否則為限幅值輸出
}
}
else //控制量輸出為負(fù)數(shù)，則輸出0
{
PID.Uk_Uint16 = 0;
}
}