单片机PID控制螺旋桨到特定角度Proteus仿真程序 -

#include <reg52.h>
#include "i2c.h"
#include "delay.h"
#include "1602.h"
#include <stdio.h>
#include <math.h>
#define AddWr 0x90 //写数据地址
#define AddRd 0x91 //读数据地址
#define wait_speak 1
#define speaked 0
sbit PWM=P1^2;
sbit led=P1^6;
sbit target_up=P3^0;
sbit target_down=P3^1;
sbit beep=P1^5;
float target=40.0;
float Kp=0.05,Ki=0.4,Kd=0.15;
unsigned int value,timer1;
char flag=wait_speak;
unsigned char confirtime=0;
extern bit ack;
unsigned char ReadADC(unsigned char Chl);
float pid(float input);
void control();
void Timer1Init();
void Timer0Init();
void change_target();
void beep_1s();
void display();
bit WriteDAC(unsigned char dat);
void delay100us(int i) //误差 0us
{
unsigned char a,b;
while(i--)
for(b=1;b>0;b--)
for(a=47;a>0;a--);
}
/*------------------------------------------------
主程序
------------------------------------------------*/
main()
{
LCD_Init(); //初始化液晶
DelayMs(20); //延时有助于稳定
LCD_Clear(); //清屏
Timer1Init();
value=0;
led=0;
while (1) //主循环
{
control();
change_target();
}
}
/*------------------------------------------------
读AD转值程序
输入参数 Chl 表示需要转换的通道，范围从0-3
返回值范围0-255
------------------------------------------------*/
unsigned char ReadADC(unsigned char Chl)
{
unsigned char Val;
Start_I2c(); //启动总线
SendByte(AddWr); //发送器件地址
if(ack==0)return(0);
SendByte(0x40|Chl); //发送器件子地址
if(ack==0)return(0);
Start_I2c();
SendByte(AddWr+1);
if(ack==0)return(0);
Val=RcvByte();
NoAck_I2c(); //发送非应位
Stop_I2c(); //结束总线
return(Val);
}
float pid(float input)
{
static float error2,error1,error3,t,Velocity;
error1 = target-input ;
Velocity+=(Kp*(error1-error2))+Ki*error1+Kd*(error1-2*error2+error3);
t=error2;
error2= error1 ;
error3 = t;
return Velocity;
}
//电压分辨率0.0196V
//满电压3.9V所以角度分辨率0.0196/3.9*360=1.8度所以增大角度分辨率要嘛增加满量程电压3.9V要嘛减小其对应的角度，其实就都是增大电压
void control()
{
unsigned char num=0,i;
int sum_num=0;
unsigned char temp[7];//定义显示区域临时存储数组
float Voltage,angle; //定义浮点变量
float temp_value;
for(i=0;i<5;i++)
{
sum_num+=ReadADC(0);
}
num=sum_num/5;
sum_num=0;
Voltage=(float)num;
angle=(Voltage-16);//*1.41-23.91);
//angle=-(((Voltage-4.96)/0.0136)+341.73);
//pid计算
temp_value=(int)pid(angle);
if(temp_value<0)
value=0;
else if(temp_value>=100)
value=100;
else
value=(int)temp_value;
if(flag==wait_speak&&abs(angle-target)<=5)
confirtime++;
if(abs(angle-target)>=20) //如果角度差大于20度将嗡鸣器设置为待激活状态
flag=wait_speak;
if(confirtime==10&&(flag==wait_speak))
{
//beep_1s();
sprintf(temp,"Achieve the goal:");//格式输出电压值，%3.2f 表示浮点输出，共3位数，小数点后2位
LCD_Write_String(0,1,temp);
delay100us(10000);
LCD_Clear(); //清屏
flag=speaked;
confirtime=0;
}
sprintf(temp,"DQJD:%3.2f ", angle);
LCD_Write_String(0,0,temp);
sprintf(temp,"SDJD:%d",(int)target);
LCD_Write_String(0,1,temp);
//sprintf(temp,"PWM:%d", value);
//LCD_Write_String(10,1,temp);
}
//定时器1服务函数
void Time1(void) interrupt 3
{
TH1 = 0x0FF;
TL1 = 0x9C;
timer1++;
if(timer1>100) //PWM周期为100*100us
{
timer1=0;
}
if(timer1 <value)
{
PWM=1;
}
else
{
PWM=0;
}
}
//定时器1初始化函数
void Timer1Init()
{
TMOD|=0X10;//选择为定时器1模式，工作方式1，仅用TR1打开启动。
TH1 = 0x0FF;
TL1 = 0x9C;
ET1=1;//打开定时器1中断允许
EA=1;//打开总中断
TR1=1;//打开定时器
}
void change_target()
{
unsigned char temp[7];//定义显示区域临时存储数组
if(target_up==0)
{
delay100us(100);
if(target_up==0)
{ flag=wait_speak;
while(target_up==0)
{
if(target<=80)
target=45;
sprintf(temp,"Target:%d",(int)target);//格式输出电压值，%3.2f 表示浮点输出，共3位数，小数点后2位
LCD_Write_String(0,1,temp);
delay100us(1000);
}
}
}
if(target_down==0)
{
delay100us(100);
if(target_down==0)
{ flag=wait_speak;
while(target_down==0)
{
if(target>=10)
target=0;
sprintf(temp,"Target:%d",(int)target);//格式输出电压值，%3.2f 表示浮点输出，共3位数，小数点后2位
LCD_Write_String(0,1,temp);
//delay10us(1000);
}
}
}
}
void display()
{
// unsigned char temp[7];//定义显示区域临时存储数组
// sprintf(temp,"Reality: %3.2f ", angle);//格式输出电压值，%3.2f 表示浮点输出，共3位数，小数点后2位
// LCD_Write_String(0,0,temp);
// sprintf(temp,"Target:%d",(int)target);//格式输出电压值，%3.2f 表示浮点输出，共3位数，小数点后2位
// LCD_Write_String(0,1,temp);
// sprintf(temp,"PWM:%d", value);//格式输出电压值，%3.2f 表示浮点输出，共3位数，小数点后2位
// LCD_Write_String(9,1,temp);
}
void beep_1s()
{
unsigned char i;
for(i=0;i<=200;i++)
{
delay100us(1);
beep=~beep;
}
}

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