基于STC15單片機芯片的直流電機PID控制轉速源碼

ID:326783 · 發表于 2018-6-3 20:46

STC15W4K56S4單片機PID控制直流電機轉速

下面是制作出來的實物圖：

單片機源程序如下:

#include "STC15W4K56S2.h"
#include "Counter1.h"
#include "USART.h"
#include "TIMER.h"
#include "PWM_CONTR.h"
#define u8 unsigned char
#define u16 unsigned int
u16 Speed_Temp=0;
sbit Led=P5^5;
struct _Pid{
u8 SetSpeed; //設置值
u8 ActualSpeed; //實際值
int err;
int err_next;
int err_last;
float Kp,Kd,Ki;
}pid;
void Seial_Creat(void);
void Timer_Creat(void);
void PID_Init(void);
u8 PID_Motor(u8 speed, u8 Aurespeed);
void main()
{
Counter1_config();
Seial_Creat();
Timer_Creat();
pwm_Init();
PID_Init();
Led=1;
EA=1;
while(1);
}
void Seial_Creat(void)
{
COMx_InitDefine myComx_initdefine;
myComx_initdefine.UART_Mode=UART_8bit_BRTx;
myComx_initdefine.UART_BRT_Use=BRT_Timer2;
myComx_initdefine.UART_BaudRate=9600;
myComx_initdefine.Morecommunicate=DISABLE;
myComx_initdefine.UART_RxEnable=ENABLE;
myComx_initdefine.BaudRateDouble=DISABLE;
myComx_initdefine.UART_Interrupt=DISABLE;
myComx_initdefine.UART_P_SW=UART1_SW_P30_P31;
myComx_initdefine.UART_RXD_TXD_Short=DISABLE;
USART_Configuration(USART1, &myComx_initdefine);
}
void Timer_Creat(void)
{
TIM_InitTypeDef myTim_inittypedef;
myTim_inittypedef.TIM_Mode=TIM_16BitAutoReload;
myTim_inittypedef.TIM_Polity=0;
myTim_inittypedef.TIM_Interrupt=ENABLE;
myTim_inittypedef.TIM_ClkSource=TIM_CLOCK_12T;
myTim_inittypedef.TIM_ClkOut=DISABLE;
myTim_inittypedef.TIM_Value=63900;
myTim_inittypedef.TIM_Run=ENABLE; //TR0=1
Timer_Inilize(Timer0,&myTim_inittypedef);
}
/********************* Timer0中斷函數************************/
void timer0_int (void) interrupt TIMER0_VECTOR
{
static u8 Count1=0;
static u8 Count2=0;
u8 Speed_pwm;
if(Count1==10)
{
TR1=0;
Count1=0;
Speed_Temp+=TL1;
Count2++;
if(Count2==4)
{
Speed_Temp>>=2;
Speed_Temp=(Speed_Temp*50)/40;
Speed_pwm=PID_Motor(20, Speed_Temp);
pwm_Change(Speed_pwm, 0x80);
//pwm_Change(0x80, 0x80);
Send1_onedata(0xaa); //發個字節標志位
Send1_onedata((u8)Speed_Temp);
Send1_onedata(Speed_pwm);
Speed_Temp=0;
Count2=0;
}
Led=~Led;
TH1=0;
TL1=0;
TR1=1;
}
else
{
Count1++;
}
}
void PID_Init(void)
{
pid.SetSpeed=0;
pid.ActualSpeed=0;
pid.err=0;
pid.err_next=0;
pid.err_last=0;
pid.Kp=2;
pid.Kd=0.2;
pid.Ki=4;
}
u8 PID_Motor(u8 speed, u8 Aurespeed)
{
int incrementspeed;
static u8 speed_value;
pid.SetSpeed=speed;
pid.err=pid.SetSpeed-Aurespeed;
incrementspeed=pid.Kp*(pid.err-pid.err_next)+pid.Kd*pid.err+pid.Kd*(pid.err-2*pid.err_next+pid.err_last);
speed_value+=incrementspeed;
pid.err_last=pid.err_next;
pid.err_next=pid.err;
return (255-speed_value);
}