单片机PID控制的制动能量回收系统程序与仿真设计 -

#include <MOTOR.h>
#include <ADC.h>
unsigned int PWM=0; //pwm占空比为50%,可调占空比
unsigned int D;
unsigned char time = 0;
uchar targetM=0,factM=0;
//PID定义
int out = 0;
int e, e1, e2;//pid 偏差
float uk=0, uk1=0, duk=0;//pid输出值
float Kp = 0.1, Ki = 0.05, Kd = 0.016;//pid控制系数 10,12,1.5
uint Inpluse = 0, num1 = 0;
unsigned int time1 = 0;
//-------------------------------
//外部中断0程序-测速用的
//-------------------------------
void int0() interrupt 0
{
Inpluse++;
}
//-------------------------------
// PID
//-------------------------------
void PIDControl() //pid偏差计算
{
e = targetM - factM;
duk = (Kp*(e - e1) + Ki * e + Kd * (e - 2 * e1 + e2));
uk = uk1 + duk;
out = (int)uk;
if (out > 100)
{
out = 100;
}
else if (out < 0)
{
out = 0;
}
uk1 = uk;
e2 = e1;
e1 = e;
D = out;
}
//-------------------------------
// 定时器、中断初始化
//-------------------------------
void TimeInit()
{
TMOD = 0X01; //定时器工作在方式1（16位定时器）
TH0 = 0XFF; //12M晶振下定时0.1ms 65536-65436
// TL0 = 0X9c;
TL0 = 0Xc6; //实验
ET0 = 1;
TR0 = 1; //开启定时器
EX0 = 1; //中断0允许
IT0 = 1; //边沿触发
EA = 1;
INT = 1;
e = 0;
e1 = 0;
e2 = 0;
IN01=0;
}

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#include <reg52.h>
#include <intrins.h>
#include <LCD12864.h>
#include <ADC.h>
#include <WORDMODEL.h>
#include <MOTOR.h>
#define uint unsigned int
#define uchar unsigned char
#include <string.h>
uchar SOC = 0, V = 0, VOLT = 0;
//SOC
void display0()
{
SOC = vol*100/255;
temp0 = SOC / 100;
temp1 = (SOC % 100) / 10;
temp2 = SOC % 10;
show_ch1(1, 0, 4 * 6, ch1 + (12 * (temp0 + 4)));
show_ch1(1, 0, 5 * 6, ch1 + (12 * (temp1 + 4)));
show_ch1(1, 0, 6 * 6, ch1 + (12 * (temp2 + 4)));
}
//车速
void display1()
{
V = vol * 192 / 255;
temp0 = V / 100;
temp1 = (V % 100) / 10;
temp2 = V % 10;
show_ch1(2, 0, 3 * 6, ch1 + (12 * (temp0 + 4)));
show_ch1(2, 0, 4 * 6, ch1 + (12 * (temp1 + 4)));
show_ch1(2, 0, 5 * 6, ch1 + (12 * (temp2 + 4)));
}
//电池电压
void display2()
{
VOLT = vol * 400 / 255;
temp0 = VOLT / 100;
temp1 = (VOLT % 100) / 10;
temp2 = VOLT % 10;
show_ch1(2, 2, 0 * 6, ch1 + (12 * (temp0 + 4)));
show_ch1(2, 2, 1 * 6, ch1 + (12 * (temp1 + 4)));
show_ch1(2, 2, 2 * 6, ch1 + (12 * (temp2 + 4)));
}
//目标制动力矩
void display3()
{
targetM = vol * 200 / 255;
D= vol * 100 / 255;
temp0 = targetM / 100;
temp1 = (targetM % 100) / 10;
temp2 = targetM % 10;
show_ch1(2, 4, 3 * 6, ch1 + (12 * (temp0 + 4)));
show_ch1(2, 4, 4 * 6, ch1 + (12 * (temp1 + 4)));
show_ch1(2, 4, 5 * 6, ch1 + (12 * (temp2 + 4)));
}
//实际制动力矩
void display4()
{
// val=100;
factM=num1/5 ;
// val = vol * 192 / 255;
temp0 = factM / 100;
temp1 = (factM % 100) / 10;
temp2 = factM % 10;
show_ch1(2, 6, 3 * 6, ch1 + (12 * (temp0 + 4)));
show_ch1(2, 6, 4 * 6, ch1 + (12 * (temp1 + 4)));
show_ch1(2, 6, 5 * 6, ch1 + (12 * (temp2 + 4)));
}
void main()
{
InitLCD();
TimeInit();
ClearScreen(0);
Set_line(0);
//SOC显示
show_ch1(1,0,0*6,ch1+12*1);
show_ch1(1,0,1*6,ch1+12*2);
show_ch1(1,0,2*6,ch1+12*3);
show_ch1(1, 0, 3 * 6, ch1 + 12 * 0);
show_ch1(1, 0, 7 * 6, ch1 + 12 * 14);
//车速显示
show_ch2(1, 0, 52, ch2 + 24 * 6);
show_ch2(2, 0, 0 * 12, ch2 + 24 * 7);
show_ch1(2, 0, 1 * 12, ch1 + 12 * 0);
show_ch1(2, 0, 6*6, ch1 + 12 * 15);
show_ch1(2, 0, 6 * 7, ch1 + 12 * 16);
show_ch1(2, 0, 6 * 8, ch1 + 12 * 17);
show_ch1(2, 0, 6 * 9, ch1 + 12 * 18);
//电池电压显示
show_ch2(1, 2, 0 * 14, ch2 + 24 * 12);
show_ch2(1, 2, 1 * 14, ch2 + 24 * 13);
show_ch2(1, 2, 2 * 14, ch2 + 24 * 14);
show_ch2(1, 2, 3 * 14, ch2 + 24 * 15);
show_ch1(1, 2, 4 * 14, ch1 + 12 * 0);
show_ch1(2, 2, 6 * 3, ch1 + 12 * 21);
//目标制动力矩显示
show_ch2(1, 4, 0, ch2 + 24 * 0);
show_ch2(1, 4, 13, ch2 + 24 * 1);
show_ch2(1, 4, 26, ch2 + 24 * 2);
show_ch2(1, 4, 39, ch2 + 24 * 3);
show_ch2(1, 4, 52, ch2 + 24 * 4);
show_ch2(2, 4, 0 * 12, ch2 + 24 * 5);
show_ch1(2, 4, 1 * 12, ch1 + 12 * 0);
show_ch1(2, 4, 6 * 6, ch1 + 12 * 19);
show_ch1(2, 4, 7 * 6, ch1 + 12 * 20);
//实际制动力矩显示
show_ch2(1, 6, 0 , ch2 + 24 * 16);
show_ch2(1, 6, 13, ch2 + 24 * 17);
show_ch2(1, 6, 26, ch2 + 24 * 2);
show_ch2(1, 6, 39, ch2 + 24 * 3);
show_ch2(1, 6, 52, ch2 + 24 * 4);
show_ch2(2, 6, 0 * 12, ch2 + 24 * 5);
show_ch1(2, 6, 1 * 12, ch1 + 12 * 0);
show_ch1(2, 6, 6 * 6, ch1 + 12 * 19);
show_ch1(2, 6, 7 * 6, ch1 + 12 * 20);
while(1)
{
ADDA=0;
ADDB=0;
ADDC=0;
adc();
display0();
ADDA=1;
adc();
display1();
ADDA=0;
ADDB=1;
adc();
display2();
ADDA=1;
adc();
display3();
if (SOC>95)
{
targetM = 0;
}
if (V <20)
{
targetM = 0;
}
if (VOLT > 390)
{
targetM = 0;
}
if (targetM > 150)
{
targetM = 0;
}
else if(targetM > 100)
{
targetM = targetM*0.5;
}
if (time1 > 100)
{
time1 = 0;
num1 = Inpluse*103/27 ;
Inpluse = 0;
PIDControl();
PWM =D;
}
display4();
}
}
//-------------------------------
//定时器0
//-------------------------------
void Timer0(void) interrupt 1
{
// TH0 = 0XFF; //重装初值
// TL0 = 0X9c; //标准值
// TL0 = 0Xb8; //包含误差
TH0=0XFF;
TL0=0X37;
time++;
if (time >= 100) //PWM周期为100*0.1ms
time = 0;
if (time < PWM)
IN01 = 1;
else
IN01 = 0;
time1++; //转速测量周期
}

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