有需要的朋友可以看看额，51单片机PID算法的控制电机转速而且有仿真和源程序哦
pid算法来控制电机转速的源程序（全部代码请下载附件）：
- #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 GORB = P1^6; //换相
- sbit PWM = P1^7;
- sbit UP = P1^0;
- sbit DOWM = P1^1;
- 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);
- }
-
- }
-
所有资料下载：
PID算法控制电机转速.rar
(90.37 KB, 下载次数: 713)
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