单片机PID算法控制直流电机转速程序,可稳定调节到目标转速

ID:811102 · 发表于 2020-12-22 09:36

根据实际转速来稳定调节到目标转速

单片机源程序如下:

#include<reg52.h>
#include<stdio.h>
#define uchar unsigned char
#define uint unsigned int
#define THC0 0xf9
#define TLC0 0x0f //2ms
unsigned char code Duan[]={0x3F, 0x06,0x5B,0x4F,0x66,0x6D,0x7D,0x07,0x7F,0x6F};//共阴极数码管，0-9段码表
unsigned char Data_Buffer[8]={0,0,0,0,0,0,0,0};
uchar i=0;
sbit AddSpeed=P1^1;
sbit SubSpeed=P1^2;
sbit PWM_FC=P1^0;
int e ,e1 ,e2 ;//pid 偏差
float uk ,uk1 ,duk ;//pid输出值
float Kp=10,Ki=12,Kd=1.6;//pid控制系数 10,12,1.5
int out=0;
uint SpeedSet=380;
uint cnt=0;
uint Inpluse=0,num=0;//脉冲计数
uint PWMTime=100;//脉冲宽度
unsigned char arry[];
void SendString(uint ch);
void PIDControl();
void SystemInit();
void delay(uchar x);
void PWMOUT();
void SetSpeed();
void SegRefre();
/**************主函数************/
void main()
{
SystemInit();
while(1)
{
SetSpeed();
SegRefre();
PWMOUT();
}
}
void PIDControl() //pid偏差计算
{
e=SpeedSet-num;
duk=(Kp*(e-e1)+Ki*e+Kd*(e-2*e1+e2))/50; //+Kd*(e-2e1+e2)
uk=uk1+duk;
out=(int)uk;
if(out>1000)
{
out=1000;
}
else if(out<0)
{
out=0;
}
uk1=uk;
e2=e1;
e1=e;
PWMTime=out;
}
void delay(uchar x)
{
uint i,j;
for(i=x;i>0;i--)
for(j=50;j>0;j--);
}
void PWMOUT()
{
if(cnt<PWMTime)
{
PWM_FC=1;
}
else
{
PWM_FC=0;
}
if(cnt>1000) cnt=0;
}
void SystemInit()
{
TMOD=0X21;
TH0=THC0;
TL0=TLC0;
TH1=0xC0;
TL1=0XC0;
ET1=1;
ET0=1;
TR0=1;
TR1=1;
EX0=1; //中断0用来测量转速
IT0=1;
EA=1;
e =0;
e1=0;
e2=0;
}
void SetSpeed()
{
if(AddSpeed==0)
{
delay(200);
if(AddSpeed==0)
{
SpeedSet+=10;
if(SpeedSet>1500)
{
SpeedSet=1500;
}
}
}
if(SubSpeed==0)
{
delay(200);
if(SubSpeed==0)
{
SpeedSet-=10;
if(SpeedSet<0) SpeedSet=0;
}
}
}
void SegRefre() //显示刷新
{
Data_Buffer[0]=SpeedSet/1000;
Data_Buffer[1]=SpeedSet%1000/100;
Data_Buffer[2]=SpeedSet%100/10;
Data_Buffer[3]=SpeedSet%10;
Data_Buffer[4]=num/1000;
Data_Buffer[5]=num%1000/100;
Data_Buffer[6]=num%100/10;
Data_Buffer[7]=num%10;
}
void int0() interrupt 0
{
Inpluse++;
}
void t0() interrupt 1
{
static unsigned char Bit=0;//静态变量，退出程序值保留
static unsigned int time=0;
// static unsigned int aa=0;
TH0=THC0;
TL0=TLC0;
// aa++;
// if(aa==50)
// {
// aa=0;
//// flag0=1;
// }
Bit++;
time++; //转速测量周期
if(Bit>8) Bit=0;
P0=0xff;
P2=Duan[Data_Buffer[Bit]];
switch(Bit)
{
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