实验五STC15系列单片机快速控制比例双惯性对象的PID控制程序（Experiment 5 STC15 series single-chip microcomputer fast control the PID control program of the dual inertial object）.doc

实验五STC15系列单片机快速控制比例双惯性对象的PID控制程序（Experiment 5 STC15 series single-chip microcomputer fast control the PID control program of the dual inertial object） / * T7 (step) or T8 (continuous) T3 for a given, controlled object plate T5 to T6 for public, object board T19 for feedback, short circuit block J6 insert, short circuit block J7 insert On the right hand side, double - knife double throw SW3 throw up, control measure T1 T16, and T17 of the object board T17 T18 (a proportion of double inertial objects), sampling period 3ms; A given electric The pressure is displayed by 5 digital tubes on the left, and the output voltage of the controlled object is displayed by the right 5 digital tube (all 1 symbol, 2 integer, 2 decimal). The PID parameter is selected by SW3SW2SW1 SW3 SW2 SW1 Kp Ki Kd On on on 0.100 0.00167 0.833 On on off 0.00334 1.67 On off on 0.500 0.00835 4.17 On off off $1.000 Off on on 0.100 0.00625 0.900 Off on off on off 0.200 0.0133 Off off on 0.500 0.0357 5.50 Off off # include 15 f2k. H # include absacc. H # define u8c unsigned char code / / the unsigned 8-bit character abbreviation definition of code # define u8 unsigned char / / unsigned 8-bit abbreviation definition # define SW XBYTE [0xBFFF] / / 8 dialing input buffer read port address (A14 = 0) # define Displayseg XBYTE [0x7FFF] / / digital pipe segment code latch to write port address (A15 = 0) # define Displaybit XBYTE [0xBFFF] / / digital pipe-code latch to write port address (A14 = 0) # define a0r-5.09-/ / given 1 (V), -12v- + 0.24 v- + 0.1v # define Amr 5.069 / / given 2 (V), + 12v--0.24 v- + 4.9 V # define N0r 0x50 / / given 1 corresponds to AD value, 256 * 0.1/5.0 = 18, a little error # define Nmr 0xbe / / given 2 corresponds to AD value, 256 * 4.9/5.0 = 243, a little error # define am-5.115 / / feedback 1 (V), + 12v--0.24 v- + 4.9 V # define Amm 5.064 / / feedback 2 (V), -12v- + 0.24 v- + 0.1v # define N0m 0x53 / / feedback 1 corresponds to AD value, 256 * 4.9/5.0 = 240, a little error The #