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          eK:=M_Value-S_Value;
        OUT_1:=INT_TO_REAL(Pre_OUT);
        eK_0:=DINT_TO_REAL(eK);
        OUT_0:=OUT_1+PID_P*(eK_0-eK_1)+PID_I*eK_0+PID_D*(eK_0-2.0*eK_1+eK_2);
        IF OUT_0>OUTRange_Max THEN
        OUT_0:=OUTRange_Max;
        END_IF;
        IF OUT_0<OUTRange_Min THEN
        OUT_0:=OUTRange_Min;
        END_IF;
        eK_2:=eK_1;
        eK_1:=eK_0;
        PID_OUT:=REAL_TO_INT(OUT_0);
        Pre_OUT:=PID_OUT;  


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        1˜Ç  °l±íÓÚ: 2013-09-24 16:21
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