51单片机PID控制垂直风力摆设置角度源程序

ID:863245 · 发表于 2020-12-19 10:31

#include <reg52.h>
#include "i2c.h"
#include "delay.h"
#include "display.h"
#include "math.h"
#define uchar unsigned char
#define uint unsigned int
#define AddWr 0x90 //写数据地址
#define AddRd 0x91 //读数据地址
void timer0_init();  //定时器0初始化
void motor_run();
void control();
uchar time;
uint motor_pwm;
double count=0; //定义占空比，并初始占空比为26%
sbit PWM=P2^3;
sbit Motor_CW=P2^4;
sbit Motor_CCW=P2^5;
float angleset=50;
float angel;
uint nowerror;
long sumerror;
uint lasterror;
float output;

float kp=0.56,ki=0.008,kd=1;
extern bit ack;
bit flag;
//bit WriteDAC(unsigned char dat);
/*------------------------------------------------
            主程序
------------------------------------------------*/
uchar ReadADC(uchar Chl)
{
  uchar val;
  Start_I2c();
SendByte(AddWr);
if(ack==0)return (0);
SendByte(Chl);
if(ack==0)return (0);
  Start_I2c();
SendByte(AddRd);
if(ack==0)return (0);
val=RcvByte();
NoAck_I2c();
Stop_I2c();
return(val);
}
void motor_run(uint pwm)
{
if(time<pwm)  //定义电机的转速
{
PWM=1;
}else
{
PWM=0;
}
if(time>100)
{
time=0;
  flag=1;
}

}
/****************************pid*****************************/
void timer0_init()
{
  TMOD=0x01; //定时器0工作于方式1
  TH0=(65536-100)/256;
  TL0=(65536-100)%256;
  TR0=1;
  ET0=1;
  EA=1;
}

/**************定时0中断处理******************/
void timer0_int() interrupt 1
{

  TR0=0; //设置定时器初值期间，关闭定时器
  TH0=(65536-100)/256;
  TL0=(65536-100)%256;
  TR0=1;

  time++;
motor_run(motor_pwm);

}

uint XIANFU_Pwm(uint pwm)
{
  if ( pwm <0) pwm = 0;
  if (pwm>=100)  pwm= 100;
return pwm;

}
float PID_Control(float angleset,float angel)
{
angel=ReadADC(0x40);
  nowerror=angleset-angel;//当前误差
  sumerror+=nowerror; //误差求和
  if(sumerror>2500)
  sumerror=2500;//限幅
  output = kp*nowerror+ki*sumerror+kd*(lasterror-nowerror);
  lasterror=nowerror;
  return output;//增量输出
}
void control()
{
motor_pwm=(uint) PID_Control(angleset,angel);
motor_pwm= XIANFU_Pwm(motor_pwm);
//motor_run(motor_pwm);
}
main()
{

float angleAD;
Motor_CW=0;       //电机正反转
Motor_CCW=1;
      timer0_init();
      while(1)
      {

            if(flag==1)
      {
                  flag=0;
         control();
      }

            angleAD = ReadADC(0x40);    //绝对角度数字值AD值
            display(angleAD);
         //WriteDAC(angleAD);

      }
}

ID:1 · 发表于 2020-12-19 21:13

本帖需要重新编辑补全电路原理图,源码,详细说明与图片即可获得100+黑币(帖子下方有编辑按钮)

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