电机控制：PID驱动程序实现与详解

  #include <hidef.h>      /* common defines and macros */
              #include "derivative.h"      /* derivative-specific definitions */
              #include <mc9s12xs128.h>
               //
              #define VV_MIN 0
              #define VV_DEADLINE 0X08   //速度PID，设置死区范围
             typedef struct PID       //定义数法核心数据
             {
                signed int vi_Ref;      //速度PID，速度设定值
               signed int vi_FeedBack;  //速度PID，速度反馈值

             signed long vi_PreError;  //

                unsigned int v_Kp;      //
速度PID，
Ka = Kp
                unsigned int v_Ki;      //速度PID，Kb = Kp * ( T / Ti )
                unsigned int v_Kd;      //速度PID，
    
s                igned long vl_PreU;    //
                                 //设置调节死区
            if((error< VV_DEADLINE ) && ( error > -VV_DEADLINE ) );               
                     //速度PID计算
              pp->vl_PreU+=(signed long)(pp->v_Kp*d_error+pp->v_Ki*error+pp->v_Kd*dd_error);
  
             else if( pp->vl_PreU >= VV_MAX )   //速度PID，防止调节最高溢出
                      pp->vl_PreU = VV_MAX;
  
             else if( pp->vl_PreU <= VV_MIN ) //速度PID，防止调节最低溢出 
                        pp->vl_PreU = VV_MIN;