处理程序,在使用单片机作为控制cpu时,请稍作简化,具体的PID参数必须由具体对象通过实验确定。由于单片机的处理速度和ram资源的限制,一般不采用浮点数运算,而将所有参数全部用整数,运算

到最后再除以一个2的N次方数据（相当于移位）,作类似定点数运算,可大大提高运算速度,根据控制精度的不同要求,当精度要求很高时,注意保留移位引起的“余数”,做好余数补偿。这个程序只是一般常用pid算法的基本架构,没有包含输入输出处理部分。

-handling procedures, the use of single chip controller cpu, please slightly simplified, PID parameters specific to the specific object must be determined through experiments. As microcontroller processing speed and ram resource constraints, not normally used floating point calculations. they will use an all parameters, calculation of a final divided by two of the Nth data (equivalent to shift), Points for similar operations will be greatly improved computational speed, precision control of the different requirements and high precision, reservations to the attention of displacement caused by the "I", which I do for compensation. This procedure is commonly used algorithm pid the basic structure does not include input and output processing.