pid.c

用PID算法控制直流电机

#include "DSP281x_Device.h"     // DSP281x Headerfile Include File
#include "DSP281x_Examples.h"   // DSP281x Examples Include File
#include "ctr.h"
#include "PID.h"

// Prototype statements for functions found within this file.
interrupt void cpu_timer0_isr(void);

// 大液晶控制板控制字  ----------------------------------------------------------
#define CTRSTATUS (*(unsigned int *)0x108000) //port8000
#define CTRLED (*(unsigned int *)0x108004) // port8004
#define MCTRKEY (*(unsigned int *)0x108005)  // port8005
#define CTRCLKEY (*(unsigned int *)0x108006) // port8006
#define CTRSTATUS (*(unsigned int *)0x108000) //port8000
#define CTRGR (*(unsigned int *)0x108000) //port8000
#define CTRMOTORBSPEED (*(unsigned int *)0x108003) //port8003

void Gpio_select(void);
void Gpio_PortB(void);
void ShowParameters();
void LCDPutString(unsigned int *pData,int x,int y,unsigned int nCharNumber,unsigned color);
void PIDControl(int rk,int yk);
void Delay(unsigned int nTime);		// 延时子程序
void PrintParameters();
Uint16 var1 = 0;
Uint16 var2 = 0;
Uint16 var3 = 0;
Uint16 test_count = 0;
Uint16 Test_flag = 0;
Uint16 Test_var  = 0;
Uint16 Test_status[32];

int i=0,nnn;
unsigned int nCount,nCount_1=1,nCount1,nCount2,nCount3,nCount4,nJSSpeed,nJSSpeed_1=1,uWork;
unsigned int uLBD;
float a=0.6f,b=0.2f,c=0.1f,duk;
int ek,ek1,ek2,tz;
int nInput;
int nSSS,pwm,pwm1;
int md,wc;
unsigned int nScreenBuffer[30*128],pidnCount3,piduN;
int m_nSpeed,m_bPCSet;
unsigned char ccc;
int uN;
void main(void)
{   
	unsigned int uWork1;
	int inputspeed;
	int breakflage;
	int speed[100],sp,lj;
	float ljh;
	int i,w1,w2,w3;
    InitSysCtrl();
    for ( sp=0;sp<100;sp++ )	speed[sp]=0;
	for ( sp=0;sp<(30*128);sp++ )	nScreenBuffer[sp]=0;
	sp=nSSS=nCount=nCount1=nCount2=nCount3=nCount4=nJSSpeed=0; nInput=tz=wc=0;
	ek=ek1=ek2=0;
	uN=40; md=70; pwm1=60;
	m_nSpeed=70; m_bPCSet=0;
    inputspeed=0;
    uWork1=0;
    breakflage=0;
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP281x_SysCtrl.c file.
   

// Step 2. Initalize GPIO: 
// This example function is found in the DSP281x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();  // Skipped for this example  


// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts 
   DINT;

// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.  
// This function is found in the DSP281x_PieCtrl.c file.
   InitPieCtrl();
   
// Disable CPU interrupts and clear all CPU interrupt flags:
   IER = 0x0000;
   IFR = 0x0000;

// Initialize the PIE vector table with pointers to the shell Interrupt 
// Service Routines (ISR).  
// This will populate the entire table, even if the interrupt
// is not used in this example.  This is useful for debug purposes.
// The shell ISR routines are found in DSP281x_DefaultIsr.c.
// This function is found in DSP281x_PieVect.c.
   InitPieVectTable(); 

// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.  
   EALLOW;  // This is needed to write to EALLOW protected registers
   PieVectTable.TINT0 = &cpu_timer0_isr;
   EDIS;    // This is needed to disable write to EALLOW protected registers

// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP281x_InitPeripherals.c
// InitPeripherals(); // Not required for this example

   /////InitCpuTimers();   // For this example, only initialize the Cpu Timers
   	CpuTimer0.RegsAddr = &CpuTimer0Regs;
	// Initialize timer period to maximum:	
	CpuTimer0Regs.PRD.all  = 3600*2;
	//CpuTimer0Regs.PRD.all  = 3600*20;
	// Initialize pre-scale counter to divide by 1 (SYSCLKOUT):	
	CpuTimer0Regs.TPR.all  = 0;
	CpuTimer0Regs.TIM.all  = 0;
	CpuTimer0Regs.TPRH.all = 0;
	// Make sure timer is stopped:
	CpuTimer0Regs.TCR.bit.TSS = 1;
	CpuTimer0Regs.TCR.bit.SOFT = 1;
	CpuTimer0Regs.TCR.bit.FREE = 1;
	// Reload all counter register with period value:
	CpuTimer0Regs.TCR.bit.TRB = 1;
	CpuTimer0Regs.TCR.bit.TIE = 1;
	// Reset interrupt counters:
	CpuTimer0.InterruptCount = 0;	         


   

// Step 5. User specific code, enable interrupts:


// Enable CPU INT1 which is connected to CPU-Timer 0:
   IER |= M_INT1;

// Enable TINT0 in the PIE: Group 1 interrupt 7
   PieCtrlRegs.PIEIER1.bit.INTx7 = 1;

// Enable global Interrupts and higher priority real-time debug events:
   EINT;   // Enable Global interrupt INTM
   ERTM;   // Enable Global realtime interrupt DBGM
   Gpio_PortB();
   
    CTRGR=0x80;
	CTRGR=0;
	CTRGR=0x80;
	// 设置显示参数和内容
	LCDSetDelay(1);		// 设置延时等待参数
	LCDSetScreenBuffer(nScreenBuffer);	// 显示缓冲区
	LCDTurnOn();			// 打开显示
	LCDCLS();				// 清除显示内存   
	LCDPutCString(str1,0,127,8,0);
	LCDPutCString(str2,0,111,2,1);
	LCDPutCString(str3,68,111,2,1);
	LCDPutCString(str6,0,95,2,1);
	LCDPutCString(str5,68,95,2,1);
	LCDPutCString(str7,0,79,3,1);
	LCDPutCString(str4,68,79,2,1);
	ShowParameters();		// 参数显示

    CTRGR=01;   
    StartCpuTimer0();
     while ( 1 )
	{
    //读键盘值
	 uWork1=MCTRKEY;
	 uWork1 &=0xff;
	 CTRCLKEY=0;
	 if(uWork1==4)
	 {		Delay(500);
		    uWork1=MCTRKEY;
	        uWork1 &=0xff;
	        CTRCLKEY=0; 
	        
		    md+=10;
		    ShowParameters();	// 显示各参数值到LCD
	 }
	 if(uWork1==8)
	 {		Delay(500);
		    uWork1=MCTRKEY;
	        uWork1 &=0xff;
	        CTRCLKEY=0; 
	        
		    md-=10;
		    ShowParameters();	// 显示各参数值到LCD
	 }
	 if(uWork1==1)
	 {		
		    Delay(500);
		    uWork1=MCTRKEY;
	        uWork1 &=0xff;
	        CTRCLKEY=0;
		    md+=1;
		    ShowParameters();	// 显示各参数值到LCD
	 } 
	 if(uWork1==2)
	 {		
		    Delay(500);
		    uWork1=MCTRKEY;
	        uWork1 &=0xff;
	        CTRCLKEY=0;
		    md-=1;
		    ShowParameters();	// 显示各参数值到LCD
	 }   
	  Delay(25);//延时，
		if (nJSSpeed_1==0)	// 读取速度标志
		{ 
		    nJSSpeed_1=1; 
			nJSSpeed=0;
			ccc=CTRMOTORBSPEED;	// 从端口读取速度计数
			ccc=ccc&0xff;
			nSSS=ccc; 
			if ( nSSS>=0 && nSSS<400 )	// 合法性检测
			{
				speed[sp]=nSSS; 		// 读取66个计数值
				sp++; sp%=66;
			}
			if ( sp==0 )	// 是否已经读了66个速度？
			{				// 以下求速度平均值
				lj=0; ljh=0;
				for ( i=0;i<66;i++ )
				{
					if ( speed[i]>=0 && speed[i]<400 )
					{
						ljh+=speed[i];
						lj++;
					}
				}
				wc=( lj==0 )?(0):(ljh/lj);
				if ( wc>300 )
				{	
					wc=0;
				}
				//nCount3++; nCount3%=3;
				//if ( nCount3==2 )		
				//{
					PIDControl(md,wc);	// 调用PID算法控制程序进行控制
					uN=(100-pwm1)/2;			// 利用占空比调整控制
					ShowParameters();	// 显示各参数值到LCD
			//	}
				//PrintParameters();
				nJSSpeed_1=1;
			}
		}
    }
} 

// PID算法控制子程序-------------------------------------------------------------------------
void PIDControl(int rk,int yk)
{
	ek=rk-yk;
	duk=a*ek+b*ek1+c*ek2;		// 计算控制输出
	ek2=ek1; ek1=ek;
	if ( duk>2 )	duk=1;		// 幅度限制
	if ( duk<-2 )	duk=-1;		// 幅度限制
	tz=(int)duk;
	pwm1+=tz;					// 计算当前占空比
	if ( pwm1<0 )	pwm1=0;
	else if ( pwm1>99 )	pwm1=99;
}

#define Hz200 50
#define Hz1 10000
interrupt void cpu_timer0_isr(void)
{
   PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
   CpuTimer0Regs.TCR.bit.TIF = 1;
   CpuTimer0Regs.TCR.bit.TRB = 1;
	nCount1++; nCount1%=Hz200;
	GpioDataRegs.GPBDAT.bit.GPIOB4=( nCount1>uN )?1:0;
   if ( nCount2==0 )
   {
		GpioDataRegs.GPBDAT.bit.GPIOB5=nnn;
		nnn=1-nnn;
   }
   nCount2++; nCount2%=Hz1;
	nJSSpeed++; nJSSpeed%=12000/20;	// 读取速度标志
	if(nJSSpeed==0) 
	{nJSSpeed_1=0;}
	nCount++; nCount%=51200;
	if(nCount==0) 
	{nCount_1=0;}
}


void Gpio_select(void)
{
     EALLOW;
     
    GpioMuxRegs.GPAMUX.all=var1;   // Configure MUXs as digital I/Os or
    GpioMuxRegs.GPBMUX.all=var1;   // peripheral I/Os
    GpioMuxRegs.GPDMUX.all=var1;
    GpioMuxRegs.GPFMUX.all=var1;         
    GpioMuxRegs.GPEMUX.all=var1; 
    GpioMuxRegs.GPGMUX.all=var1;
                                        
    GpioMuxRegs.GPADIR.all=var2;   // GPIO PORTs  as output
    GpioMuxRegs.GPBDIR.all=var2;   // GPIO DIR select GPIOs as output 
    GpioMuxRegs.GPDDIR.all=var2;
    GpioMuxRegs.GPEDIR.all=var2;        
    GpioMuxRegs.GPFDIR.all=var2; 
    GpioMuxRegs.GPGDIR.all=var2;

    GpioMuxRegs.GPAQUAL.all=var3;  // Set GPIO input qualifier values
    GpioMuxRegs.GPBQUAL.all=var3;   
    GpioMuxRegs.GPDQUAL.all=var3;
    GpioMuxRegs.GPEQUAL.all=var3;
 
    EDIS;
     
}     

void Gpio_PortB(void)
{    

// GPIO Test #2: 
// Configure Upper 8 bits of Port as inputs and lower 8 bits as outputs    
// Loop back bits [7:0] to bits [15:8]
// Don't set any input qualifier
 
    var1= 0x0000;       // sets GPIO Muxs as I/Os
    var2= 0x00FF;       // sets GPIO 15-8 DIR as inputs, 7-0 DIR as outputs
    var3= 0x0000;       // Don't set any input qualifier
    
    Gpio_select();    
    
    test_count = 0;
    Test_status[Test_var] = 0x0002;
    Test_var++;
    
    Test_status[Test_var] = 0xD0BE;      // Set the default value of status 
                                         // to "PASSED"
    GpioDataRegs.GPBCLEAR.all = 0x00FF;  // Test Clear
    asm(" RPT #5 ||NOP");                             
    GpioDataRegs.GPBSET.bit.GPIOB5=1;
    GpioDataRegs.GPBSET.bit.GPIOB4=1;
 
}

void LCDPutString(unsigned int *pData,int x,int y,unsigned int nCharNumber,unsigned color)
{
	int i,j,l;
	unsigned int k,mcolor;
	
	for ( l=0;l<nCharNumber;l++ )
		for ( i=0;i<8;i++ )
		{
			k=1;
			for ( j=0;j<16;j++,k<<=1 )
			{
				if ( color==2 )	mcolor=2;
				else
				{
					mcolor=( pData[l*8+i]&k )?(1):(0);
					if ( color==0 )	mcolor=1-mcolor;
				}
				LCDPutPixel(x+l*8+i,y-j,mcolor);
			}
		}
}

// 显示参数到LCD
void ShowParameters()
{
	int w1,w2,w3;
	
	w1=md%1000/100; w2=md%100/10; w3=md%10;
	LCDPutString(numbers+w1*8,36,111,1,1);
	LCDPutString(numbers+w2*8,44,111,1,1);
	LCDPutString(numbers+w3*8,52,111,1,1);
	w1=wc%1000/100; w2=wc%100/10; w3=wc%10;
	LCDPutString(numbers+w1*8,104,111,1,1);
	LCDPutString(numbers+w2*8,112,111,1,1);
	LCDPutString(numbers+w3*8,120,111,1,1);
	if ( ek>=0 )
	{
		LCDPutString(numbers+88,36,95,1,1);
		w3=((int)ek)%100;
	}
	else
	{
		LCDPutString(numbers+96,36,95,1,1);
		w3=((int)(-ek))%100;
	}
	w1=w3%100/10; w2=w3%10;
	LCDPutString(numbers+w1*8,44,95,1,1);
	LCDPutString(numbers+w2*8,52,95,1,1);
	if ( tz>=0 )
	{
		LCDPutString(numbers+88,104,95,1,1);
		w3=tz;
	}
	else
	{
		LCDPutString(numbers+96,104,95,1,1);
		w3=(-tz);
	}
	w1=w3%100/10; w2=w3%10;
	LCDPutString(numbers+w1*8,112,95,1,1);
	LCDPutString(numbers+w2*8,120,95,1,1);
	w1=pwm1%100/10; w2=pwm1%10;
	LCDPutString(numbers+w1*8,44,79,1,1);
	LCDPutString(numbers+w2*8,52,79,1,1);
	LCDPutString(numbers+80,60,79,1,1);
	LCDRefreshScreen();
}

int wwcc;
void PrintParameters()
{
	wwcc=wc-md;
	printf("测速[%3d] 设置[%3d] 误差[%+4d] PID调整量[%+3d] 占空比[%3d%%]\n",
			wc,md,wwcc,tz,pwm1);
}

// No more.
//========================================

void Delay(unsigned int nDelay)
{
	int ii,jj,kk=0;
	for ( ii=0;ii<nDelay;ii++ )
	{
		for ( jj=0;jj<64;jj++ )
		{
			//RefreshLEDArray();
			kk++;
		}
	}
}