ctl.c

实现PID算法的C语言程序

/*
****************************************************

		
****************************************************
*/


#include <reg52.H>
#include <rtx51tny.h>

#include "Typedef.H"
#include "UserDef.H"

#include "disp.h"
#include "LTC1860.h"
#include <math.h>

/*  */
#define T_SELECT	100		// 采样周期
#define T_DRV		100		// 控制驱动输出周期

#define ADSET 1500

/*  私有全局变量 */
static INT8U sig_targ;		// 显示任务的任务号

static xdata float Kp=1;			// PID 系数 
static xdata float Ki=0.1;			// PID 系数	 Kp*Ts/Ti
static xdata float Kd=1;			// PID 系数	 Kp*Td/Ts	

static xdata float Yn=0;			// PID Yn
static xdata float SumE=0;			

/* 端口 */
sbit P_Drv = P3^0;			// 输出端口


void PID(INT32U ADCur,INT32U ADSet);

/***************************************************

		

****************************************************/
static void TaskCTL(void) _task_ TASK_CTL
{ 
	INT32S ni;
	INT16U ADn;

	/* 显示界面固定文字显示 */
	DISP_REQ;
	dm.x = 0;
	dm.y = 0;
	dm.font = 1;
	dm.DData = "Set=";		  //
	dm.type = DTYPE_STR;
	os_send_signal(sig_targ);

	DISP_REQ;
	dm.x = 2;
	dm.y = 0;
	dm.font = 1;
	dm.DData = "Cur=";		  //
	dm.type = DTYPE_STR;
	os_send_signal(sig_targ);

	while (1) 
	{ 	
		os_wait(K_TMO,T_SELECT,0);	//采样周期

		/* 采样 */
		ADn = LTC1860();

		DISP_REQ;
		dm.x = 0;
		dm.y = 50;
		dm.font = 1;
		ni = ADSET;
		dm.DData = &ni;
		dm.len = 4;
		dm.type = DTYPE_INT32S;
		os_send_signal(sig_targ);

		DISP_REQ;
		dm.x = 2;
		dm.y = 50;
		dm.font = 1;
		ni = ADn;
		dm.DData = &ni;
		dm.len = 4;
		dm.type = DTYPE_INT32S;
		os_send_signal(sig_targ);

	  	PID(ADn,ADSET);

		DISP_REQ;
		dm.x = 4;
		dm.y = 50;
		dm.font = 1;
		dm.DData = &Yn;
		dm.len = 4;
		dm.type = DTYPE_FLOAT;
		os_send_signal(sig_targ);

	}
} 

/***************************************************

		

****************************************************/
static void TaskDRV(void) _task_ TASK_DRV
{ 
	INT8U tOut;

	P_Drv = 1;

	while (1) 
	{ 	
		P_Drv = 0;
		tOut = (INT8U)(Yn * T_DRV);
		os_wait(K_TMO,tOut,0);			//
		
		P_Drv = 1;
		os_wait(K_TMO,T_DRV - tOut,0);	//
	}
} 


/***************************************************

		任务创建函数

		signal_target_task 	 接收键盘信号的任务编号

****************************************************/
void TaskCreate_CTL(INT8U signal_target_task)
{
	sig_targ = signal_target_task;
	os_create_task(TASK_CTL);
	os_create_task(TASK_DRV);
}




/***************************************************

		



****************************************************/
void PID(INT32U ADCur,INT32U ADSet)
{
	xdata float Uk;
	xdata float Ek;
	xdata INT32S dlt;
	static xdata float Ek_1;
	
	dlt =  (INT32S)ADSet - (INT32S)ADCur;	
	Ek = (float)dlt;	
	
	//PID运算
	SumE += Ek;
		
	// 抗积分饱和（积分分离）
	if (abs(dlt) > 200)
	{
		SumE = 0;		//积分遗忘
	}

	Uk = Kp*Ek + Ki*SumE + Kd*(Ek-Ek_1);

	//饱和限幅
	if (Uk > 100)
		Uk = 100;
	else if (Uk < 0)
		Uk = 0;

	Ek_1 = Ek;
	Yn = Uk/100.0;
}