单片机PID控制步进电机转动

ID:385032 · 发表于 2018-8-10 16:16

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.

ID:342294 · 发表于 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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