Description: In the use of single-chip microcomputer as the control cpu, please make some simplification, the specific PID parameters must be determined through experiments at specific audiences. As the single-chip processing speed and ram resource constraints, generally do not use floating-point, and will use all parameters of all integers, computing the final 2 and then divided by a N-th power of data (equivalent to shift), similar fixed-point computation can be greatly enhanced speed of operation, according to the different requirements of control precision, when high precision, the attention to retain the shift caused by the balance , do a good job in the balance of compensation. This procedure is commonly used algorithm pid basic structure does not contain input and output part of treatment.
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