标题: 单片机PID控制步进电机转动 [打印本页]
作者: SolomonZ 时间: 2018-8-10 16:16
标题: 单片机PID控制步进电机转动
1. #include<reg52.h>
2. #include"lcd1602.h"
3.
4. sfr T2MOD =0x0c9;
5. #defineuchar unsigned char
6. #define uintunsigned int
7.
8. sbit Q0 =P2^4;
9. sbit Q1 =P2^5;
10. sbit Q2 =P2^6;
11. sbit Q3 =P2^7;
12.
13. sbitGORB = P1^6; //换相
14. sbit PWM =P1^7;
15. sbitUP = P1^0;
16. sbitDOWM = P1^1;
17. sbitADDSPEED = P1^2;
18. sbitSUBSPEED = P1^3;
19.
20. uint tuint =65535;
21. uint tpwm =1; //pwm周期为10000us tpwm变量表示pwm高电平时间，也相当于占空比 (仿真时，频率高时，电机反应慢。在实物上要加大频率)
22. uchart1_flag = 0;
23.
24. uint pulse =0;
25. uint t0_flag= 0;
26. uchart2_flag = 0;
27. bit t2_over= 0;
28. bit Just_Get= 1;
29.
30.
31. #define ZZ { Q0 = 0;Q1 = 0;Q2 = 1;Q3 = 1;} //正转
32. #define FZ { Q0 = 1;Q1 = 1;Q2 = 0;Q3 = 0;} //反转
33. #define STOP { Q0 = 1;Q1 = 0;Q2= 1;Q3 = 0;} //停止
34. //禁止出现 Q0 = 0;Q1 = 1;Q2 = 0;Q3 = 1; 不然会烧掉mos管
35.
36. //************************PID *************************************
37. float now =0,bef = 0,bbef = 0; //本次采样值，上次采样值，上上次采样值
38. floaterr_now,err_bef,err_bbef; //当前偏差，上次偏差，上上次偏差
39. floaterror_add = 0; //所有偏差之和
40. float set =25; //设定值
41.
42. float kp =25;
43. float ki =25;
44. float kd =0;
45.
46. //*****************************************************************
47.
48. voiddelayms(uint ms)//延时？个 ms
49. {
50. uchar a,b,c;
51. while(ms--)
52. {
53. for(c=1;c>0;c--)
54. for(b=142;b>0;b--)
55. for(a=2;a>0;a--);
56. }
57. }
58.
59. void timer_init()
60. {
61. EA = 1;
62. ET0 = 1;
63. ET1 = 1;
64. ET2 = 1;
65.
66. TMOD = 0x15; //定时器0 计数模式 定时器1模式1
67. T2MOD = 0x01;
68.
69. TH0 = TL0 = 255;
70. TH2 = 0x3C;
71. TL2 = 0xB0; //50MS
72.
73. }
74. voidtimer1() interrupt 3
75. {
76. if(t1_flag == 0)
77. {
78. t1_flag = 1;
79. PWM = 1;
80. TH1 = (tuint - tpwm + 1)/256;
81. TL1 = (tuint - tpwm + 1)%256;
82.
83. }
84. else
85. {
86. t1_flag = 0;
87. PWM = 0;
88. TH1 = (tuint - 10000 + tpwm +1)/256;
89. TL1 = (tuint - 10000 + tpwm +1)%256;
90. }
91. }
92.
93. voidtimer0() interrupt 1
94. {
95. TH0 = TL0 = 255;
96. t0_flag++;
97. }
98. voidtimer2() interrupt 5
99. {
100. TF2 = 0;
101. TH2 = 0x3C;
102. TL2 =0xB0; //50MS
103.
104. t2_flag++;
105.
106. if(t2_flag ==2)
107. {
108. TR0 = 0;
109. TR2 = 0;
110. t2_flag = 0;
111. t2_over = 1; //表示100ms时间到
112. }
113. }
114. void GetPulse()
115. {
116. t0_flag = 0;
117. t2_flag = 0;
118.
119. TH0 = TL0 =255;
120. TH2 = 0x3C;
121. TL2 =0xB0; //50MS
122.
123. TR0 = 1;
124. TR2 = 1;
125. }
126.
127. int PID() //增量式PID
128. {
129. int change;
130.
131. err_now = set -now;
132. err_bef = set -bef;
133. err_bbef = set- bbef;
134.
135. change =kp*(err_now - err_bef) + ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
136.
137. /*
138. if(set >=now)
139. {
140. if(set - now > 1)
141. change = kp*(err_now - err_bef) +ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
142. else
143. change = 0.2*kp*(err_now - err_bef) +0.5*ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
144. }
145. else if(now> set)
146. {
147. if(now - set > 1)
148. change = kp*(err_now - err_bef) +ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
149. else
150. change = 0.2*kp*(err_now - err_bef) +0.5*ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
151.
152. }
153. */
154.
155. //change = (kp+ ki + kd)*(set - now) + (-kp - 2*kd)*(set - bef) + kd*(set - bbef);
156. //change =kp*(set - now) + ki*(set - bef) + kd*(set - bbef);
157. if(change >0)
158. {
159. printchar(1,10,'+');
160. printuint(1,11,4,change);
161.
162. }
163. else if(change< 0)
164. {
165. printchar(1,10,'-');
166. printuint(1,11,4,-change);
167. }
168. else if(change== 0)
169. {
170. printchar(1,10,' ');
171. printword(1,11," 0 ");
172.
173. }
174.
175. return(change);
176. }
177.
178. int PID2() //位置式PID
179. {
180.
181. int num = 0;
182. static num_bef= 0;
183.
184. err_now = set -now;
185. err_bef = set -bef;
186.
187. error_add =error_add + err_now; //误差累加。一旦误差为0则error_add的值不变，PID输出值不变
188.
189. num =kp*err_now + ki*error_add + kd*(err_now - err_bef);
190.
191. /*
192. if(set - now>= 0)
193. {
194. if(set - now > 1)
195. num = kp*err_now + ki*error_add +kd*(err_now - err_bef);
196. else
197. num = 0.1*kp*err_now + ki*error_add +kd*(err_now - err_bef);
198. }
199. else
200. {
201. if(now - set > 1)
202. num = kp*err_now + ki*error_add +kd*(err_now - err_bef);
203. else
204. num = 0.1*kp*err_now + ki*error_add +kd*(err_now - err_bef);
205.
206. }
207. */
208.
209. if(num >num_bef)
210. {
211. printchar(1,10,'+');
212. printuint(1,11,4,num - num_bef);
213. }
214. else if(num< num_bef)
215. {
216. printchar(1,10,'-');
217. printuint(1,11,4,num_bef - num);
218. }
219. else
220. {
221. printchar(1,10,' ');
222. printuint(1,11,4,0);
223. }
224.
225. num_bef = num;
226.
227. return((uint)num);
228. }
229.
230. void main()
231. {
232.
233. lcd_init();//初始化LCD
234. timer_init();//初始化Timer
235. TH1 = TL1 =255;
236.
237. printword(0,0,"P:"); //比例系数
238. printword(0,5,"S:"); //设定值
239. printword(1,0,"TPWM:"); //当前占空比
240. printword(0,10,"PS:"); //当前电机反馈的每秒脉冲数
241.
242. while(1)
243. {
244. if(GORB == 1)
245. { ZZ; }
246. else
247. { FZ; }
248.
249. if(ADDSPEED == 0)
250. set++;
251. if(SUBSPEED == 0)
252. set--;
253.
254. if(Just_Get == 1)
255. {
256. Just_Get = 0;
257. GetPulse();
258. }
259. else if(t2_over == 1)
260. {
261. t2_over = 0;
262. Just_Get = 1;
263. pulse = t0_flag;
264. bbef = bef;
265. bef = now;
266. now = t0_flag;
267.
268. if(set != 0)
269. {
270. TR1 = 1;
271. }
272. else
273. {
274. TR1 = 0;
275. PWM = 0;
276. }
277.
278. // tpwm = tpwm + PID(); //增量式PID
279. tpwm = PID2(); //位置式PID
280.
281. }
282.
283. if(UP == 0)
284. kp = kp + 1;
285. if(DOWM == 0)
286. kp = kp - 1;
287.
288. printuint(0,2,3,kp);
289. printuint(0,7,3,set);
290. printuint(1,5,4,tpwm);
291. printuint(0,13,5,pulse);
292.
293. }
294.
295. }
296.
作者: 莫德尔 时间: 2018-8-23 09:39
printuint(0,2,3,kp);这个函数哪里来的 为什么没有看到你的函数声明而且这个函数你只是调用 但是这个函数在哪里 你给我找出来 感觉你这是胡编乱遭的吧
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