PID电机调速上位机VB和单片机分别可用PID调速

用VB做上位机，可显示波曲线。用STC89C52做电机的MCU，L298驱动带速度反溃直流电机。PID算法在单片机和上位机中都已实现，PID三个参数都在上位机中调整

#include “60S2.H“
#include “UART1.H“
#include “PWM.H“
#include “GetSpeed.H“
#include “Pid.H“


#define START 0xFF

xdata unsigned long int temp;

void RX_COM（void）;

void main（）
{
	UART1_INIT（）;
	PWM_INIT（）;
	GetSpeed_INIT（）;
    Pid_Init（&motor1）;
    Pid_Init（&motor2）;
	Pid_Add（&motor1）;

	EA=0;
    motor1.Set_val=0x190; //100 r/s
	motor2.Set_val=0x190;
	pid_en=1;
	EA=1;


	P2=0xf6;

	while（1）{
			if（UART1_RX_flat==1）
				{
				RX_COM（）;
				UART1_RX_flat=0;
				}
			
			if（GetSpeed_REF==1）
				{
				EA=0;
						
								if（GetSpeed_th0==0xff）motor1.Get_val=0;
								else{
									temp=（GetSpeed_th0<<8）+GetSpeed_tl0;
									temp=（0x1FFFE0）/temp;
									motor1.Get_val=（temp&0xffff）;
									}

								if（GetSpeed_th1==0xff）motor2.Get

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2011-08-06 15:53  PID调速\
     目录           0  2011-08-06 15:53  PID调速\STC12C5A60S2_24M\
     文件       17837  2011-07-24 17:01  PID调速\STC12C5A60S2_24M\60S2.h
     文件        2116  2011-07-30 22:54  PID调速\STC12C5A60S2_24M\GetSpeed.h
     文件       17536  2011-07-31 01:30  PID调速\STC12C5A60S2_24M\hot51
     文件        6240  2011-07-31 01:30  PID调速\STC12C5A60S2_24M\hot51.hex
     文件          41  2011-07-31 01:30  PID调速\STC12C5A60S2_24M\hot51.lnp
     文件       19761  2011-07-31 01:30  PID调速\STC12C5A60S2_24M\hot51.M51
     文件        1533  2011-07-31 01:32  PID调速\STC12C5A60S2_24M\hot51.Opt
     文件         202  2011-08-06 15:54  PID调速\STC12C5A60S2_24M\hot51.plg
     文件        2115  2011-07-30 02:45  PID调速\STC12C5A60S2_24M\hot51.Uv2
     文件        1527  2011-07-30 21:29  PID调速\STC12C5A60S2_24M\hot51_Opt.Bak
     文件        2099  2011-07-24 22:40  PID调速\STC12C5A60S2_24M\hot51_Uv2.Bak
     文件        2848  2011-07-31 01:20  PID调速\STC12C5A60S2_24M\main.c
     文件       58827  2011-07-31 01:30  PID调速\STC12C5A60S2_24M\main.LST
     文件       19975  2011-07-31 01:30  PID调速\STC12C5A60S2_24M\main.OBJ
     文件         941  2011-07-31 01:32  PID调速\STC12C5A60S2_24M\PID.H
     文件        3075  2011-07-30 00:53  PID调速\STC12C5A60S2_24M\PID01.H
     文件         595  2011-07-29 12:01  PID调速\STC12C5A60S2_24M\PWM.H
     文件         606  2011-07-30 09:13  PID调速\STC12C5A60S2_24M\UART1.h
     目录           0  2011-08-06 15:53  PID调速\VB\
     文件      952082  2011-07-31 00:05  PID调速\VB\000517_left.bmp
     文件      952082  2011-07-31 00:05  PID调速\VB\000517_right.bmp
     文件      952082  2011-07-30 23:55  PID调速\VB\235534_left.bmp
     文件      952082  2011-07-30 23:59  PID调速\VB\235941_left.bmp
     文件      952082  2011-07-30 23:59  PID调速\VB\235941_right.bmp
     文件       51057  2011-07-31 00:27  PID调速\VB\Form1.frm
     文件          74  2011-07-31 00:27  PID调速\VB\Form1.frx
     文件        4076  2011-07-25 18:21  PID调速\VB\Form2.frm
     文件        4930  2011-07-25 18:21  PID调速\VB\Form2.frx
     文件         488  2011-07-26 01:50  PID调速\VB\Module1.bas
............此处省略4个文件信息