PID算法控制电机转速源程序+Proteus仿真工程文件+电路图 -

#include<reg52.h>
#include"lcd1602.h"
sfr T2MOD = 0x0c9;
#define uchar unsigned char
#define uint unsigned int
sbit Q0 = P2^4;
sbit Q1 = P2^5;
sbit Q2 = P2^6;
sbit Q3 = P2^7;
sbit PWM = P1^7;
sbit UP = P1^0;
sbit DOWM = P1^1;
sbit GORB = P2^3; //换相
sbit ADDSPEED = P1^2;
sbit SUBSPEED = P1^3;
uint tuint = 65535;
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)
uchar t1_flag = 0;
uint pulse = 0;
uint t0_flag = 0;
uchar t2_flag = 0;
bit t2_over = 0;
bit Just_Get = 1;
#define ZZ { Q0 = 0;Q1 = 0;Q2 = 1;Q3 = 1;} //正转
#define FZ { Q0 = 1;Q1 = 1;Q2 = 0;Q3 = 0;} //反转
#define STOP { Q0 = 1;Q1 = 0;Q2 = 1;Q3 = 0;} //停止
//禁止出现 Q0 = 0;Q1 = 1;Q2 = 0;Q3 = 1; 不然会烧掉mos管
//************************ PID *************************************
float now = 0,bef = 0,bbef = 0; //本次采样值，上次采样值，上上次采样值
float err_now,err_bef,err_bbef; //当前偏差，上次偏差，上上次偏差
float error_add = 0; //所有偏差之和
float set = 25; //设定值
float kp = 25;
float ki = 25;
float kd = 0;
//*****************************************************************
void delayms(uint ms)//延时？个 ms
{
uchar a,b,c;
while(ms--)
{
for(c=1;c>0;c--)
for(b=142;b>0;b--)
for(a=2;a>0;a--);
}
}
void timer_init()
{
EA = 1;
ET0 = 1;
ET1 = 1;
ET2 = 1;
TMOD = 0x15; //定时器0 计数模式定时器1模式1
T2MOD = 0x01;
TH0 = TL0 = 255;
TH2 = 0x3C;
TL2 = 0xB0; //50MS
}
void timer1() interrupt 3
{
if(t1_flag == 0)
{
t1_flag = 1;
PWM = 1;
TH1 = (tuint - tpwm + 1)/256;
TL1 = (tuint - tpwm + 1)%256;
}
else
{
t1_flag = 0;
PWM = 0;
TH1 = (tuint - 10000 + tpwm + 1)/256;
TL1 = (tuint - 10000 + tpwm + 1)%256;
}
}
void timer0() interrupt 1
{
TH0 = TL0 = 255;
t0_flag++;
}
void timer2() interrupt 5
{
TF2 = 0;
TH2 = 0x3C;
TL2 = 0xB0; //50MS
t2_flag++;
if(t2_flag == 2)
{
TR0 = 0;
TR2 = 0;
t2_flag = 0;
t2_over = 1; //表示100ms时间到
}
}
void GetPulse()
{
t0_flag = 0;
t2_flag = 0;
TH0 = TL0 = 255;
TH2 = 0x3C;
TL2 = 0xB0; //50MS
TR0 = 1;
TR2 = 1;
}
int PID() //增量式PID
{
int change;
err_now = set - now;
err_bef = set - bef;
err_bbef = set - bbef;
change = kp*(err_now - err_bef) + ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
/*
if(set >= now)
{
if(set - now > 1)
change = kp*(err_now - err_bef) + ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
else
change = 0.2*kp*(err_now - err_bef) + 0.5*ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
}
else if(now > set)
{
if(now - set > 1)
change = kp*(err_now - err_bef) + ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
else
change = 0.2*kp*(err_now - err_bef) + 0.5*ki*err_now + kd*(err_now - 2*err_bef + err_bbef);
}
*/
//change = (kp + ki + kd)*(set - now) + (-kp - 2*kd)*(set - bef) + kd*(set - bbef);
//change = kp*(set - now) + ki*(set - bef) + kd*(set - bbef);
if(change > 0)
{
printchar(1,10,'+');
printuint(1,11,4,change);
}
else if(change < 0)
{
printchar(1,10,'-');
printuint(1,11,4,-change);
}
else if(change == 0)
{
printchar(1,10,' ');
printword(1,11," 0 ");
}
return(change);
}
int PID2() //位置式PID
{
int num = 0;
static num_bef = 0;
err_now = set - now;
err_bef = set - bef;
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
num = kp*err_now + ki*error_add + kd*(err_now - err_bef);
/*
if(set - now >= 0)
{
if(set - now > 1)
num = kp*err_now + ki*error_add + kd*(err_now - err_bef);
else
num = 0.1*kp*err_now + ki*error_add + kd*(err_now - err_bef);
}
else
{
if(now - set > 1)
num = kp*err_now + ki*error_add + kd*(err_now - err_bef);
else
num = 0.1*kp*err_now + ki*error_add + kd*(err_now - err_bef);
}
*/
if(num > num_bef)
{
printchar(1,10,'+');
printuint(1,11,4,num - num_bef);
}
else if(num < num_bef)
{
printchar(1,10,'-');
printuint(1,11,4,num_bef - num);
}
else
{
printchar(1,10,' ');
printuint(1,11,4,0);
}
num_bef = num;
return((uint)num);
}
void main()
{
lcd_init();
timer_init();
TH1 = TL1 = 255;
printword(0,0,"P:"); //比例系数
printword(0,5,"S:"); //设定值
printword(1,0,"TPWM:"); //当前占空比
printword(0,10,"PS:"); //当前电机反馈的每秒脉冲数
while(1)
{
if(GORB == 1)
{ ZZ; }
else
{ FZ; }
if(ADDSPEED == 0)
set++;
if(SUBSPEED == 0)
set--;
if(Just_Get == 1)
{
Just_Get = 0;
GetPulse();
}
else if(t2_over == 1)
{
t2_over = 0;
Just_Get = 1;
pulse = t0_flag;
bbef = bef;
bef = now;
now = t0_flag;
if(set != 0)
{
TR1 = 1;
}
else
{
TR1 = 0;
PWM = 0;
}
// tpwm = tpwm + PID(); //增量式PID
tpwm = PID2(); //位置式PID
}
if(UP == 0)
kp = kp + 1;
if(DOWM == 0)
kp = kp - 1;
printuint(0,2,3,kp);
printuint(0,7,3,set);
printuint(1,5,4,tpwm);
printuint(0,13,5,pulse);
}
}

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#include <intrins.h>
#define uchar unsigned char
#define uint unsigned int
//************************************ lcd1602开始 ***********************************
#define LCD_DATA P0 //P0口接LCD数据口
sbit RS = P2^2;
sbit RW = P2^1;
sbit LCDEN = P2^0;
sbit LCD_BUSY = P0^7;
//********* lcd1602延时函数 ***************
void delayms_lcd(uint ms)//延时？个 ms
{
uchar a,b,c;
while(ms--)
{
for(c=1;c>0;c--)
for(b=142;b>0;b--)
for(a=2;a>0;a--);
}
}
//**********字符串复制函数**********
void string_copy(uchar *target,uchar *source)//字符串复制 target:目标 source：源
{
uchar i = 0;
for(i = 0;source[i] != '\0';i++)//注意target的长度无保护措施！
{
target[i] = source[i];
}
target[i] = '\0';
}
//**********字符串比较函数**********
uchar string_cmp(uchar *target,uchar *source)//字符串比较 target:目标 source：源
{
uchar revalue;
uchar i = 0;
for(i = 0;target[i] != '\0' && source[i] != '\0';i++) //两个都不等于'\0'才执行出现一个等于'\0'就跳出
{
if(target[i] == source[i])
{
revalue = 1;
}
else
{
revalue = 0;
break;
}
}
if(revalue == 1)
{
if(target[i] == '\0' && source[i] == '\0')
revalue = 1;
else
revalue = 0;
}
return(revalue);
}
//**************** LCD1602函数 ********************
//LCD基本函数：
void busy_check() //忙碌检测
{
/* RW = 1; //读
RS = 0; //指令寄存器
LCD_DATA = 0xFF;//实验证明读数时要将I/O口要置1
LCDEN = 0;
_nop_();
_nop_();
_nop_();
_nop_();
LCDEN = 1;// EN高电平读信息负跳变执行指令
_nop_();
_nop_();
_nop_();
_nop_();
while(1)
{
if(LCD_BUSY == 0)//P07 == 0跳出循环
break;
} */
delayms_lcd(2);//仿真时用延时法下载到真实单片机上时，将这句注释掉，采用上面的语句。
}
void lcdwrcom(uchar command)//写指令
{
busy_check();
RW = 0;//写
RS = 0;//指令寄存器
LCD_DATA = command;
LCDEN = 1;//负跳变写入指令
_nop_();
_nop_();
_nop_();
_nop_();
LCDEN = 0;
}
void lcdwrdata(uchar lcd_data)//写数据数字、字母、标点符号都是数据
{
busy_check();
RW = 0;//写
RS = 1;//数据寄存器
LCD_DATA = lcd_data;
LCDEN = 1;//负跳变写入指令
_nop_();
_nop_();
_nop_();
_nop_();
LCDEN = 0;
}
void lcd_init()
{
delayms_lcd(15);//必要 lcd1602上电到电压稳定需要时间
RW = 0;//写
RS = 0;//指令寄存器
LCD_DATA = 0x38;// 0x38设置显示模式为：16X2 显示,5X7 点阵,8 位数据接口'
LCDEN = 1;
_nop_();
_nop_();
_nop_();
_nop_();
LCDEN = 0;
delayms_lcd(5);
lcdwrcom(0x0c);//打开显示无光标不闪烁
lcdwrcom(0x06);//指令3 光标右移屏幕所有文字移动无效
lcdwrcom(0x01);// 清显示，光标复位到地址00H位置。
}
//LCD扩展函数：
void address(uchar x,uchar y) //定位下一步要写数的地址
{
uchar location;
if(x == 0)
location = 0x80|y;
else
location = 0xC0|y;
lcdwrcom(location);
}
void printchar(uchar x,uchar y,uchar letter)//显示字母、单个字符
{
address(x,y);
lcdwrdata(letter);
}
void printword(uchar x,uchar y,uchar *word) //显示单词（字符数组）
{
uchar i = 0;
for(i = 0;word[i] != '\0';i++)
{
address(x,y + i);
lcdwrdata(word[i]);
}
}
void printuint(uchar x,uchar y,uchar num_ws_max,uint num)//显示无符号整形 0~65535 x:行 y：列 num_ws_max 变量的最大位数
{
uchar i = 0;
uchar str[5] = {0x20,0x20,0x20,0x20,0x20};
if(num >= 10000)
{
str[0] = num/10000 + '0';
str[1] = num%10000/1000 + '0';
str[2] = num%1000/100 + '0';
str[3] = num%100/10 + '0';
str[4] = num%10 + '0';
// str[5] = '\0'; //手动加字符串结束标志
}
else if(num >= 1000)
{
str[0] = num/1000 + '0';
str[1] = num%1000/100 + '0';
str[2] = num%100/10 + '0';
str[3] = num%10 + '0';
str[4] ='\0';
}
else if(num >= 100)
{
str[0] = num/100 + '0';
str[1] = num%100/10 + '0';
str[2] = num%10 + '0';
str[3] = '\0';
}
else if(num >=10)
{
str[0] = num/10 + '0';
str[1] = num%10 + '0';
str[2] = '\0';
}
else if(num >= 0)
{
str[0] = num + '0';
str[1] = '\0';
}
for(i = 0;i <= 5;i++) //uint类型最大值65535 为5位数
{
if(str[i] != '\0' && i < num_ws_max)
{
address(x,y + i);
lcdwrdata(str[i]);
}
else if(str[i] == '\0' && i < num_ws_max)
{
address(x,y+i);
lcdwrdata(' ');//空格 // 实现功能：在此变量的位数范围内，把没数字的位存0x20（空格）
//例如：最大有3位：999 当变为99时，存为9+'0' 9+'0' 0x20
}
}
}
//******************* lcd1602结尾 *****************************

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