使用51單片機用PID算法來控制直流電機的轉速.帶有3個按鈕 切換電機轉動方向，調節p，調節轉速.測試已經成功
仿真原理圖如下（proteus仿真工程文件可到本帖附件中下載）：
單片機源程序如下:
- #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; //換相
- sbit ADDSPEED = P1^2;
- sbit SUBSPEED = P1^3;
- uint tuint = 65535;
- uint tpwm = 1; //pwm周期為10000us tpwm變量表示pwm高電平時間，也相當于占空比 (仿真時，頻率高時，電機反應慢。在實物上要加大頻率)
- 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;} //正轉
- #define FZ { Q0 = 1;Q1 = 1;Q2 = 0;Q3 = 0;} //反轉
- #define STOP { Q0 = 1;Q1 = 0;Q2 = 1;Q3 = 0;} //停止
- //禁止出現 Q0 = 0;Q1 = 1;Q2 = 0;Q3 = 1; 不然會燒掉mos管
- //************************ PID *************************************
- float now = 0,bef = 0,bbef = 0; //本次采樣值，上次采樣值，上上次采樣值
- float err_now,err_bef,err_bbef; //當前偏差，上次偏差，上上次偏差
- float error_add = 0; //所有偏差之和
- float set = 25; //設定值
- float kp = 25;
- float ki = 25;
- float kd = 0;
- //*****************************************************************
- void delayms(uint ms)//延時？個 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; //定時器0 計數模式 定時器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時間到
- }
- }
- 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; //誤差累加。一旦誤差為0則error_add的值不變，PID輸出值不變
- 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:"); //比例系數
- printword(0,5,"S:"); //設定值
- printword(1,0,"TPWM:"); //當前占空比
- printword(0,10,"PS:"); //當前電機反饋的每秒脈沖數
-
- 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;
- ……………………
- …………限于本文篇幅 余下代碼請從51黑下載附件…………
所有資料51hei提供下載:
PID算法控制電機轉速.rar
(100.25 KB, 下載次數: 1239)
2017-6-4 13:03 上傳
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