直流电机的闭环控制

#include<reg51.h> #include<math.h> #include<stdlib.h> #include<intrins.h> #define GPIO_DIG P0 sbit output=P1^2; sbit IN1=P1^1; unsigned char num=1; unsigned char time=1; unsigned char stime=1; extern int displayspeed=0; int bb=0; extern int actual=0; unsigned char code DIG_CODE[16]={ 0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07, 0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71}; unsigned char Init_display_data[6]; sbit LSA=P2^2; sbit LSB=P2^3; sbit LSC=P2^4; sbit K1=P3^1; sbit K2=P3^0; sbit K3=P3^2; //PID三个参数分别为x,y,z. extern float x=0.01; extern float y=0.001; extern float z=0.1; extern float err=0.0;//初始化偏差 extern float value=0.0;//初始化PID运算后的值 float uk=0.0; extern int set=165;//初始sp //void delay(unsigned int qq) //{ unsigned int t,v; // for(t=qq;t>0;t--) // { // for(v=80;v>0;v--); // } //} float PIDcontrol(int set, int actual) //pid算式 { float errch,mm,ss; errch=err; err=set-actual; mm=mm+err; ss=err-errch; value=x*err+y*(mm)-z*ss; return value; } //显示模块 void DigDisplay() { unsigned int ii=0,jj=0; int a=0,b=0,c=0,d=0,e=0,g=0,m=0; a=set/100; b=(set%100)/10; e=set%10/1; d=displayspeed; c=d/100; m=(d%100)/10; g=d%10/1; //段选 Init_display_data[0]=DIG_CODE[a]; Init_display_data[1]=DIG_CODE[b]; Init_display_data[2]=DIG_CODE[e]; Init_display_data[3]=DIG_CODE[c]; Init_display_data[4]=DIG_CODE[m]; Init_display_data[5]=DIG_CODE[g]; for(ii=0;ii<6;ii++) { //位选 switch(ii) { case(0): LSA=0;LSB=0;LSC=0; break; case(1): LSA=1;LSB=0;LSC=0; break; case(2): LSA=0;LSB=1;LSC=0; break; case(3): LSA=1;LSB=0;LSC=1; break; case(4): LSA=0;LSB=1;LSC=1; break; case(5): LSA=1;LSB=1;LSC=1; break; } GPIO_DIG=Init_display_data[ii]; // jj=20; // while(jj--); GPIO_DIG=0x00; //全部熄灭 } } //////设定值模块 void keyscan() { //用于增加设定值 int i=0; if(K1==0) { set++; if(set>1000) { set=0; } while((i<50000)&&(K1==0)) { DigDisplay(); i++; } } //用于减少设定值 else if(K2==0) { set--; if(set<0) { set=0; } while((i<50000)&&(K2==0)) // { DigDisplay(); i++; } } //清除设定值 else if(K3==0) { set=0; while((i<50000)&&(K3==0)) { DigDisplay(); i++; } } } //定时器初始化 void Init() { TMOD=0x15; TH1=0xfc; TL1=0x18; EA=1; ET1=1; ET0=0; TH0=0; TL0=0; TR0=1; TR1=1; } void Timer_0() interrupt 3 { TH1=0xfc; TL1=0x18; TF1=0; num++; time++; stime++; if(time==50) { actual=(TH0*256+TL0)*20*60/260; time=1; TH0=0; TL0=0; } if(stime==100) { displayspeed=actual; uk=PIDcontrol(set,actual); bb=(int)(uk); if(uk>=1000) uk=1000; stime=1; } if(num<=uk ) output=1; else output=0; if(num>=800) num=0; } main() { int bb=0; IN1=0; Init(); while(1) { DigDisplay(); keyscan(); } }