This is a typical PID processing program found on the Internet. When using MCU as the control CPU, please simplify the PID The parameters must be determined by the specific objects. Because of the processing speed and the restriction of ram resources, the operation of floating-point arithmetic is generally not adopted. Instead of using all the parameters in integers, and then dividing by a 2 to the N (shift), you can do some sort of fixed-point arithmetic In order to improve the operation speed greatly, according to the different requirements of control precision, when the accuracy requirement is very high, pay attention to the "remainder" caused by the reservation of displacement The number of compensation. This program is just the basic architecture of common pid algorithms, and does not include the input and output parts.

pid.txt

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