直流电机PID控制源码c语言,51单片机PID+PWM直流电机转速闭环控制源码(12864液晶显示)...

#define uchar unsigned char

#define uint unsigned int

#define GPIO_KEY P2

sbit PWM=P1^4;

sbit P10=P1^0;

sbit P12=P1^2;

uchar speed1[4]={"0000"};//设定转速

uchar speed2[3]={"000"};//占空比

uchar speed[]={"0000"};//当前转速

uchar KeyValue=0;

uint AA,count=0,flag;

float pid_p=0.003,pid_i=0.003,pid_d=0.002;        //PID三个参数 初值

uint SpeedSet=3000,CurrentSpeed;//设定转速 当前转速

unsigned char pid_val_mid;//pid_val_mid脉冲宽度

unsigned int lastError=0;

long int sumError=0;//sum偏差和

void delay1(unsigned int i)

{

unsigned int j;

for(;i>0;i--)

for(j=0;j<333;j++)

{;}

}

/********************* 键盘扫描*************/

void KeyDown(void)

{

GPIO_KEY=