pid wenkong.txt

温控pid

unsigned int dError,Error; 
Error = pp->SetPoint - NextPoint; // 偏差 
pp->SumError += Error; // 积分 
dError = pp->LastError - pp->PrevError; // 当前微分 
pp->PrevError = pp->LastError; 
pp->LastError = Error; 
return (pp->Proportion * Error // 比例项 
+ pp->Integral * pp->SumEror // 积分项 
+ pp->Derivative * dError); // 微分项 
} 
/*********************************************************** 
温度比较处理子程序 
***********************************************************/ 
compare_temper() 
{ 
unsigned char i; 
if(set_temper>temper) 
{ 
if(set_temper-temper>1) 
{ 
high_time=100; 
low_time=0; 
} 
else 
{ 
for(i=0;i<10;i++) 
{ get_temper(); 
rin = s; // Read Input 
rout = PIDCalc ( &spid,rin ); // Perform PID Interation 
} 
if (high_time<=100) 
high_time=(unsigned char)(rout/800); 
else 
high_time=100; 
low_time= (100-high_time); 
} 
} 
else if(set_temper<=temper) 
{ 
if(temper-set_temper>0) 
{ 
high_time=0; 
low_time=100; 
} 
else 
{ 
for(i=0;i<10;i++) 
{ get_temper(); 
rin = s; // Read Input 
rout = PIDCalc ( &spid,rin ); // Perform PID Interation 
} 
if (high_time<100) 
high_time=(unsigned char)(rout/10000); 
else 
high_time=0; 
low_time= (100-high_time); 
} 
} 
// else 
// {} 
} 
/***************************************************** 
T0中断服务子程序，用于控制电平的翻转 ,40us*100=4ms周期 
******************************************************/ 
void serve_T0() interrupt 1 using 1 
{ 
if(++count<=(high_time)) 
output=1; 
else if(count<=100) 
{ 
output=0; 
} 
else 
count=0; 
TH0=0x2f; 
TL0=0xe0; 
} 
/***************************************************** 
串行口中断服务程序，用于上位机通讯 
******************************************************/ 
void serve_sio() interrupt 4 using 2 
{ 
/* EA=0; 
RI=0; 
i=SBUF; 
if(i==2) 
{ 
while(RI==0){} 
RI=0; 
set_temper=SBUF; 
SBUF=0x02; 
while(TI==0){} 
TI=0; 
} 
else if(i==3) 
{ 
TI=0; 
SBUF=temper; 
while(TI==0){} 
TI=0; 
} 
EA=1; */ 
} 
void disp_1(unsigned char disp_num1[6]) 
{ 
unsigned char n,a,m; 
for(n=0;n<6;n++) 
{ 
// k=disp_num1[n]; 
for(a=0;a<8;a++) 
{ 
clk=0; 
m=(disp_num1[n]&1); 
disp_num1[n]=disp_num1[n]>>1; 
if(m==1) 
data1=1; 
else 
data1=0; 
_nop_(); 
clk=1; 
_nop_(); 
} 
} 
} 
/***************************************************** 
显示子程序 
功能：将占空比温度转化为单个字符，显示占空比和测得到的温度 
******************************************************/ 
void display() 
{ 
unsigned char code number[]={0xfc,0x60,0xda,0xf2,0x66,0xb6,0xbe,0xe0,0xfe,0xf6}; 
unsigned char disp_num[6]; 
unsigned int k,k1; 
k=high_time; 
k=k%1000; 
k1=k/100; 
if(k1==0) 
disp_num[0]=0; 
else 
disp_num[0]=0x60; 
k=k%100; 
disp_num[1]=number[k/10]; 
disp_num[2]=number[k%10]; 
k=temper; 
k=k%100; 
disp_num[3]=number[k/10]; 
disp_num[4]=number[k%10]+1; 
disp_num[5]=number[s/10]; 
disp_1(disp_num); 
} 
/*********************************************************** 
主程序 
***********************************************************/ 
main() 
{ 
unsigned char z; 
unsigned char a,b,flag_2=1,count1=0; 
unsigned char phil[]={2,0xce,0x6e,0x60,0x1c,2};; 
TMOD=0x21; 
TH0=0x2f; 
TL0=0x40; 
SCON=0x50; 
PCON=0x00; 
TH1=0xfd; 
TL1=0xfd; 
PS=1; 
EA=1; 
EX1=0; 
ET0=1; 
ES=1; 
TR0=1; 
TR1=1; 
high_time=50; 
low_time=50; 
PIDInit ( &spid ); // Initialize Structure 
spid.Proportion = 10; // Set PID Coefficients 
spid.Integral = 8; 
spid.Derivative =6; 
spid.SetPoint = 100; // Set PID Setpoint 
while(1) 
{ 
if(plus==0) 
{ 
EA=0; 
for(a=0;a<5;a++) 
for(b=0;b<102;b++){} 
if(plus==0) 
{ 
set_temper++; 
flag=0; 
} 
} 
else if(subs==0) 
{ 
for(a=0;a<5;a++) 
for(b=0;a<102;b++){} 
if(subs==0) 
{ 
set_temper--; 
flag=0; 
} 
} 
else if(stop==0) 
{ 
for(a=0;a<5;a++) 
for(b=0;b<102;b++){} 
if(stop==0) 
{ 
flag=0; 
break; 
} 
EA=1; 
} 
get_temper(); 
b=temper; 
if(flag_2==1) 
a=b; 
if((abs(a-b))>5) 
temper=a; 
else 
temper=b; 
a=temper; 
flag_2=0; 
if(++count1>30) 
{ 
display(); 
count1=0; 
} 
compare_temper(); 
} 
TR0=0; 
z=1; 
while(1) 
{ 
EA=0; 
if(stop==0) 
{ 
for(a=0;a<5;a++) 
for(b=0;b<102;b++){} 
if(stop==0) 
disp_1(phil); 
// break; 
} 
EA=1; 
} 
}