电机调速控制程序.txt

电机调速的控制程序

附录Ⅰ（程序清单）
#include<reg51.h>
#define  uchar unsigned char
#define  uint  unsigned int
#define time0 65536-3000
float tt;
uchar  n,ptr,tn;        //频率控制字
sbit ADCS = P1^4;
sbit ADAT = P1^3;
sbit ACLK = P1^2;     //adc0832/cs/data/clk/
uint u,ki,kp,kd,u0;
uint e0,e1,e2;
uint  vvv,r,para[6];
uchar y,out,ts,tm;
uint pwmh,pwml;       //脉冲高低电平
uchar pwm;            //控制量输出
sbit  pwma=P1^0;
sbit  pwmb=P1^1;
bit   pwmx;pid_b;
sbit dis0 =P2^7;
sbit dis1 =P2^6;
sbit dis2 =P2^5;
sbit dis3 =P2^4;
sbit key1 =P2^3;
sbit key0 =P2^2;
uchar disp[4],dis;
uchar key,keyx,flag0,flag1;
uchar code numtab[4]={0x10,0x80,0x40,0x20};
uchar code distab[16]={0x28,0xee,0x32,0xa2,0xe4,0xa1,0x21,0xea,
		               0x20,0xa0,0x60,0x25,0x39,0x26,0x31,0x71};
//**************************************************************
void time(uint t)
{
  uint i;
  for(i=0;i<t;i++);
}
//**************************************************************
//adc0832
//**************************************************************

uchar adc0832()
{
  uchar x=0,i;
  ADAT=1;ACLK=0;ADCS=0;

  for(i=0;i<4;i++)
     {
         ACLK=0;
         ADAT=1;
         ACLK=1; 
     }

  ACLK=0;

  for(i=0;i<8;i++)
     {
          ACLK=1;
          x=x<<1;
          if(ADAT) x++;
          ACLK=0;
     }

  ACLK=1;ADCS=1;
  return x;
}

//**************************************************************
//脉宽调制
//**************************************************************
void Timer() interrupt 3 using 3        //产生pwm脉冲
{
  if(!pwmx)
  {
    TH1=pwmh>>8;TL1=pwmh;
  }
  else
  {
    TH1=pwml>>8;TL1=pwml;
  }
  pwmx=~pwmx;
  if(flag1) {pwma=1;pwmb=1;}
  else if(flag0){pwma=pwmx; pwmb=1;}
       else  {pwma=1;pwmb=pwmx;}  
  
}


//**************************************************************
//PID算法
//************************************************************** 
void PID()    
{ tt=300.0/107.0;
  if(y<127)
    {vvv=(vvv+300-(uint)(y-41)*tt)/2;}
  if(y>127)
    {vvv=(vvv+(uint)(y-148)*tt)/2;}
 
  e2=e1;e1=e0;e0=r-vvv; 
  u+=ki*e0+kp*(e0-e1)+kd*(e0-2*e1+e2);
  if(u>0xfff) u=0xfff;  
  if(u<0) u=0;
  u0=(u+u0*3)/4;
  out=(uchar)(u0/16);
  pwm=out;
  pwmh=pwm|0xff00;
  pwml=0xffff-pwm;
  pwmh=pwmh<<n;
  pwml=pwml<<n;
}

//**************************************************************
//显示
//**************************************************************
void distran()
{
  disp[0]=distab[para[ptr]%10];
  disp[1]=distab[(para[ptr]/10)%10];
  disp[2]=distab[(para[ptr]/100)%10];
 // disp[3]=~ledtab[ptr];
  disp[3]=distab[ptr];
}

void display()
{
  dis=(dis+1)%4;
  P2=0xff;
  P0=disp[dis]; 
  P2=~numtab[dis];
  key0=1; key1=1;
  if(!key0) keyx=dis+1;
  if(!key1) keyx=dis+5; 
}

//**************************************************************
//键盘
//**************************************************************


void keyproc()
{
  if(key>0)
  { 
    switch(key)
    { case 1: ptr--;             break;
      case 5: ptr++;             break;
      case 2: para[ptr]--;       break;
      case 6: para[ptr]++;       break;
      case 3: para[ptr]-=10;     break;
      case 7: para[ptr]+=10;     break;
      case 4: flag0=(flag0+1)%2; break;//正反转
      case 8: flag1=(flag0+1)%2; break;//启动停止
     
    }
    if(ptr>5) ptr=5;
    if(ptr<0) ptr=0;
    switch(ptr)
    {
      case 0:para[0]=vvv;      break;   
      case 1:r=para[1];        break; 
      case 2:kp=para[2];       break; 
      case 3:ki=para[3];       break; 
      case 4:kd=para[4];       break; 
      case 5:n=para[5];        break; 
     }
    if(para[ptr]<0)   para[ptr]=0;
    if(para[ptr]>300) para[ptr]=300;
    distran();
  } 
  key=0;
}

//**************************************************************
//定时采样 
//**************************************************************
timer0() interrupt 1 using 2         //定时中断
{
  TH0=time0>>8; TL0=time0;
  if(tm++>ts) 
   { 
     pid_b=1;tm=0;
   }  
   display();
}
//**************************************************************
void main()
{ 
  IE=0x8a; 
  IP=8;
  TMOD=0x11;  
  TH0=time0>>8; 
  TL0=time0; 
  TR0=1;
  TR1=1;
  ki=4;
  kp=8;
  kd=10;
  ts=3;
  r=200;
  n=5;
  para[1]=r;
  para[2]=kp;
  para[3]=ki;
  para[4]=kd;
  para[5]=n;
  distran();  
  for(;;)
  {
   if(keyx>0)
   { 
     key=keyx;   
     while(keyx!=0) {keyx=0; time(1000);}
     keyproc();
    
    }
   if(pid_b)
    {
	  y=adc0832();
	  PID();
	  pid_b=0;
     if(tn++>10)
	  {if(ptr==0) 
        { para[ptr]=vvv;
          distran();
          display(); 
  		  tn=0;
	    }
      }
	}
     time(1000);
    
 }