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PID classic program
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Compared with the typical PID motor processing program, when using the single chip microcomputer as the control CPU, please make a little simplification. The specific PID parameters must be determined by the specific object through experiments. Due to the limitation of processing speed and ram resources of single chip microcomputer, floating-point operation is generally not adopted, and all parameters are used as integers, and then divided by the n-th power data of a 2 (equivalent to shift) to perform similar fixed-point number operation, which can greatly improve the operation speed. According to the different requirements of control accuracy, when the accuracy requirements are very high, attention should be paid to the "surplus" caused by shift The balance compensation should be done well. This program is only the basic architecture of the commonly used PID algorithm, does not include the input and output processing part.
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