网上找来的一个比较典型的PID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。-The Internet to find a more typical PID treatment procedures, and in the use of single chip microcomputer as control CPU, please make a little simplified, specific PID

Parameters by a concrete object must be determined by the experiment. Because of the single chip processing speed and ram resource constraints, generally does not use the floating-point operation,

And will all the parameters with all integers, computing to finally divided by a 2 N power data (equivalent to shift), like fixed-point number operations, but

Greatly improve the computational speed, according to the different requirements of control accuracy, high accuracy, when to keep shift the remainder ", "caused more than well

Several compensation. The procedure is usually used pid algorithm does not include the basic structure, input and output processing