📄 pid_vp_c1.frm
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Height = 300
Left = 2128
TabIndex = 6
Top = 1095
Width = 705
End
Begin VB.Label Label4
AutoSize = -1 'True
BackColor = &H00FFFFFF&
BorderStyle = 1 'Fixed Single
Caption = "Label4"
BeginProperty Font
Name = "Arial"
Size = 10.5
Charset = 0
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
ForeColor = &H00FF0000&
Height = 300
Left = 1138
TabIndex = 5
Top = 1100
Width = 705
End
Begin VB.Label Label3
AutoSize = -1 'True
BackStyle = 0 'Transparent
Caption = "当前温度"
BeginProperty Font
Name = "宋体"
Size = 10.5
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
ForeColor = &H00000000&
Height = 210
Left = 1138
TabIndex = 4
Top = 795
Width = 840
End
Begin VB.Label Label2
AutoSize = -1 'True
BackColor = &H00FFFFFF&
BorderStyle = 1 'Fixed Single
Caption = "Label2"
BeginProperty Font
Name = "Arial"
Size = 10.5
Charset = 0
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
ForeColor = &H00FF0000&
Height = 300
Left = 238
TabIndex = 3
Top = 1095
Width = 705
End
Begin VB.Label Label1
Alignment = 2 'Center
AutoSize = -1 'True
BackStyle = 0 'Transparent
Caption = "设定温度"
BeginProperty Font
Name = "宋体"
Size = 10.5
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
ForeColor = &H00000000&
Height = 210
Left = 148
TabIndex = 2
Top = 795
Width = 855
End
Begin VB.Menu Calc1
Caption = "文件(&F)"
Begin VB.Menu Save1
Caption = "保存(&S)"
Shortcut = ^S
End
Begin VB.Menu print
Caption = "打印(&P)"
Shortcut = ^P
End
Begin VB.Menu quit
Caption = "退出(&Q)"
Shortcut = ^Q
End
End
Begin VB.Menu edit
Caption = "编辑(&E)"
Begin VB.Menu refresh
Caption = "刷新(&R)"
Shortcut = ^R
End
Begin VB.Menu pause
Caption = "暂停(&T)"
Shortcut = ^T
End
Begin VB.Menu aixdesign
Caption = "坐标设置(&A)"
Shortcut = ^A
End
End
Begin VB.Menu help
Caption = "帮助(&H)"
Begin VB.Menu aboutsystem
Caption = "关于本系统"
End
End
End
Attribute VB_Name = "温度控制系统"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
'PID_VP_C1: a program by the PID algorithm with variable parameters. 2005/7/12.
'The variable gains are piecewise constants.
'采样周期T=5S。
'被控对象为电烙铁:
'G1(s)=1.24exp(-130s)/1+680s
'或G2(s)=1.389exp(-160s)/1+640s
'或G3(s)=1.60exp(-180s)/1+620s
'或G10(s)=1.5exp(-170s)/(680s+1)
Option Explicit
'Const Kp = 1.309, Kip = 0.00779, Kdp = 1.25 'G2,138/49.00, 50.50-50.00
'Const Kp = 1.196, Kip = 0.00779, Kdp = 1.25 'G2,167/49.00, 50.05-50.00
'Const Kp = 0.975, Kip = 0.008, Kdp = 1.25 'G3,157/49.00,50.49-50.00
'Const Kp = 0.5, Kip = 0.008, Kdp = 1.25 'G3,490/49.00,-50.00; R,228/49.19,50.40-49.92
'Const Kp = 1.22, Kip = 0.00728, Kdp = 1.5 'G10,146,50.50-50.0,33.21
Private Kp, Kip, Kdp As Single
Const r = 50# '温度设定值
Const Ts = 5000 '采样周期 Ts=5S
Private Temp, y(2), yo, u(52), e(3), Max, Min, er As Single
Private W As Long
Private MaxTemp, MaxTime, t, Tr, DataForm As Integer
Private x0, x1, y0, y1 As Single
Private mydate, mytime As Date
Private k, flag As Integer
Private Sub Form_Load()
MaxTime = 2400 '2400,3600
MaxTemp = 100
Call DrawXY(MaxTime, MaxTemp) '!!!
MSFlexGrid1.ColAlignment(0) = 0
MSFlexGrid1.ColAlignment(1) = 0
MSFlexGrid1.ColAlignment(2) = 0
MSFlexGrid1.TextMatrix(0, 0) = "时间（拍）" '"时间（秒）"
MSFlexGrid1.TextMatrix(0, 1) = "控制量"
MSFlexGrid1.TextMatrix(0, 2) = "温度（℃）"
MSFlexGrid1.Rows = MSFlexGrid1.Rows + 1
t = 0
Tr = 0
Label2.Caption = r & " ℃"
'Label12.Caption = Kp & ", " & Kip & ", " & Kdp
Label16.Left = 3000 '0
Label15.Left = Me.Width '-Me.Width
'Timer3.Interval = Ts \ 25 '200ms!!!
Timer3.Interval = Ts \ 100 '50ms!!!
'Timer3.Interval = Ts \ 250 '20ms!!!
Timer3.Enabled = True
k = 0
flag = 0
Min = r
Call Simulating
Call PID
Call MMI
End Sub
Private Sub Quiting_Click()
Timer3.Enabled = False
End
End Sub
Private Sub Simulating()
'y(0) = 0.9922 * y(1) + 0.0108 * u(33) '被控对象G2(s)=1.389exp(-160s)/1+640s
'y(0) = 0.992 * y(1) + 0.0128 * u(37) '被控对象G3(s)=1.60exp(-180s)/1+620s
y(0) = 0.9927 * y(1) + 0.01099 * u(35) '被控对象G10(s)=1.5exp(-170s)/(680s+1)
y(1) = y(0)
If k <= 1 Then yo = y(0)
End Sub
Private Sub PID()
Dim i As Integer
e(0) = r - y(0)
er = e(0) / (r - yo)
If er > 0.99999 Then '在第一阶段减小Kp,可减小上超调; 改变Kp可改变拐点.
Kp = 2.77: Kip = 0.0018: Kdp = 1#
'Kp = 2.76: Kip = 0.0018: Kdp = 1.25
'Kp = 2.6: Kip = 0.0021: Kdp = 3#
ElseIf er > 0.88 Then '在第二阶段增大Kp或减小Kip,可减小上超调; 但Kp太大,会增大下超调.
Kp = 21.47: Kip = 0.009: Kdp = 1#
'Kp = 18.75: Kip = 0.009: Kdp = 1.25
'Kp = 4.55: Kip = 0.001: Kdp = 3#
Else '在第三阶段增大Kip或减小Kp,可减小下超调;
Kp = 0.11: Kip = 0.04: Kdp = 1#
'Kp = 0.11: Kip = 0.04: Kdp = 1.25
'Kp = 0.11: Kip = 0.007: Kdp = 3#
End If
u(0) = u(1) + Kp * ((e(0) - e(1)) + Kip * e(0) + Kdp * (e(0) - 2 * e(1) + e(2)))
If e(0) <= 0.004 Then flag = flag + 1 'i.e. y(0) >= r
For i = 0 To 50
u(51 - i) = u(50 - i)
Next i
For i = 0 To 1
e(2 - i) = e(1 - i)
Next i
End Sub
Private Sub timer3_timer()
k = k + 1
If k >= 32767 Then k = 0
Call Simulating
Call PID
Call MMI
End Sub
Private Sub MMI()
y(0) = Format(y(0), "###00.00") '数据显示格式
u(0) = Format(u(0), "###000.00")
Call CurveGenerator(t, y(0)) '!!!
MSFlexGrid1.TextMatrix(Tr + 1, 0) = k
MSFlexGrid1.TextMatrix(Tr + 1, 1) = u(0)
MSFlexGrid1.TextMatrix(Tr + 1, 2) = y(0)
MSFlexGrid1.Rows = MSFlexGrid1.Rows + 1
t = t + Ts \ 1000 '!!!
If t >= MaxTime Then Call goon 'Refresh!!!
Tr = Tr + 1
Label4.Caption = y(0) & "℃"
If (y(0) > 1.02 * r Or y(0) < 0.98 * r) Then Label10.Caption = k + 1 & " 拍" '!!!
If y(0) > Max Then Max = y(0)
Label6.Caption = Max & "℃" '!!!
If flag = 1 Then Min = y(0)
If (flag >= 1 And y(0) <= Min) Then Min = y(0)
Label8.Caption = Min & "℃" '!!!
'Label19.Caption = flag
Label12.Caption = Kp & ", " & Kip & ", " & Kdp
End Sub
Private Sub CurveGenerator(ByVal x1 As Single, ByVal y1 As Single)
If x1 = 0 Then
x0 = 0
y0 = y1
End If
Picture1.DrawStyle = 0 '线型为实线
Picture1.DrawWidth = 2 '控制线的粗细,1,2,3...
If (x0 < x1) Then
Picture1.Line (x0, y0)-(x1, y1), vbRed 'vbBlue
End If
x0 = x1
y0 = y1
End Sub
Public Sub DrawXY(ByVal MaxX As Integer, ByVal MaxY As Integer)
Dim DeltaX As Integer
Dim DeltaY As Integer
Dim i As Integer
Dim pos As Integer
DeltaX = Round(MaxX / 30) 'Round(MaxX / 20)
DeltaY = Round(MaxY / 11)
Picture1.Scale (-DeltaX, MaxY + DeltaY)-(MaxX + DeltaX, -DeltaY)
Picture1.DrawWidth = 2 '控制线的粗细,1,2,3...
Picture1.DrawStyle = 0
Picture1.Line (0, 0)-(MaxX, 0), vbBlack
Picture1.Line (0, 0)-(0, MaxY), vbBlack
'画纵向网格线
Picture1.DrawWidth = 1 '控制线的粗细,1,2,3..
Picture1.DrawStyle = 2 '线型为点线
For pos = 0 To MaxX
If pos Mod Round(MaxX / 30) = 0 Then '30或20条线
Picture1.Line (pos, 0)-(pos, MaxY), vbBlue '画长线
Picture1.CurrentX = pos
Picture1.CurrentY = 0
Picture1.Print CStr(pos \ 60)
ElseIf pos Mod Round(MaxX / 100) = 0 Then
Picture1.Line (pos, 0)-(pos, Round(MaxY / 100)), vbBlue '画短线
End If
Next
Picture1.CurrentX = MaxX / 1.06
Picture1.CurrentY = -0.05 * MaxY
Picture1.Print CStr("时间(分)") '("时间(S)")
'画横向网格线
For pos = 1 To MaxY
If pos Mod Round(MaxY / 20) = 0 Then
If pos = r Then
Picture1.DrawStyle = 2 '线型为点线
Picture1.Line (0, r)-(MaxX, r), vbRed '给定温度
Picture1.CurrentX = -MaxX / 30
Picture1.CurrentY = pos * 1.03
Picture1.Print CStr(pos)
Else
Picture1.DrawStyle = 2
Picture1.Line (0, pos)-(MaxX, pos), vbBlue
Picture1.CurrentX = -MaxX / 30
Picture1.CurrentY = pos * 1.03
Picture1.Print CStr(pos)
End If
End If
If pos Mod Round(MaxY / 100) = 0 Then
Picture1.Line (0, pos)-(Round(MaxX / 100), pos), vbBlue
End If
Next
Picture1.CurrentX = -MaxX / 30
Picture1.CurrentY = MaxY * 1.07
Picture1.Print CStr("温度(℃)")
End Sub
Private Sub timer4_timer()
Label16.Left = Label16.Left - 40
Label15.Left = Label15.Left - 40
If Label16.Left < -Me.Width Then
Label16.Left = Me.Width
Else
If Label15.Left < -Me.Width Then
Label15.Left = Me.Width
End If
End If
End Sub
Private Sub timer5_timer()
mydate = Date
mytime = Time
Label13.Caption = mydate
Label14.Caption = mytime
End Sub
Private Sub goon()
Picture1.Cls '!!!
Call DrawXY(MaxTime, MaxTemp)
t = 0
End Sub
Private Sub Holding_Click()
If Holding.Caption = "暂 停" Then
Holding.Caption = "继续运行"
Timer3.Enabled = False
Else
Holding.Caption = "暂 停"
Timer3.Enabled = True
End If
End Sub
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