#nclude<reg51.h>#include<intrins.h>#銷nclude<math.h>#include<string.h>struct PID{unsigned int SetPoint；//設(shè)定目標(biāo) Desired Value unsigned int Proportion；//比例常數(shù)Proportional Const unsigned int integral；//積分常數(shù)Integral Const unsigned int Derivative://微分常數(shù)Derivative Const unsigned int LastError；//Emorl-1]unsigned int PrevError；//Errorl-2]unsigned int SumError；//Sums of Errors struct PID spid；//PID Control Structure unsigned int rout；//PID Response（Output）unsigned int rin://PID Feedback（Input）sbit data1=P100；sbit clk=P141；sbit plus=P240；sbit subs=P241：sbit stop=P22；sbit output=P34；sbit DQ=P33；unsigned char flag，flag_1=0；unsigned char high_time，low_time，.count=0，/占空比調(diào)節(jié)參數(shù)unsigned char set_temper=35；unsigned char temper；unsigned chari：unsigned charj=0；unsigned ints；
