博文来自:http://blog.sina.com.cn/s/blog_7c7e2d5a01011ta9.html
//定义变量
double ref = 0;//设置参数
double feb = 0;//采样反馈
int pwm_var = 0;
Uint16 PWM_out = 0; //PWM输出量
double Uo = 0;
double Ek = 0;
double Ei = 0;
double Ed = 0;
#define Kp
#define Ti
#define Td