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<button id="11611"></button>

#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;
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);
}
}

復制代碼

#include <intrins.h>
#define uchar unsigned char
#define uint unsigned int
//************************************ lcd1602開始 ***********************************
#define LCD_DATA P0 //P0口接LCD數據口
sbit RS = P2^2;
sbit RW = P2^1;
sbit LCDEN = P2^0;
sbit LCD_BUSY = P0^7;
//********* lcd1602延時函數 ***************
void delayms_lcd(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--);
}
}
//**********字符串復制函數**********
void string_copy(uchar *target,uchar *source)//字符串復制 target:目標 source：源
{
uchar i = 0;
for(i = 0;source[i] != '\0';i++)//注意target的長度無保護措施！
{
target[i] = source[i];
}
target[i] = '\0';
}
//**********字符串比較函數**********
uchar string_cmp(uchar *target,uchar *source)//字符串比較 target:目標 source：源
{
uchar revalue;
uchar i = 0;
for(i = 0;target[i] != '\0' && source[i] != '\0';i++) //兩個都不等于'\0'才執行出現一個等于'\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函數 ********************
//LCD基本函數：
void busy_check() //忙碌檢測
{
/* RW = 1; //讀
RS = 0; //指令寄存器
LCD_DATA = 0xFF;//實驗證明讀數時要將I/O口要置1
LCDEN = 0;
_nop_();
_nop_();
_nop_();
_nop_();
LCDEN = 1;// EN高電平讀信息負跳變執行指令
_nop_();
_nop_();
_nop_();
_nop_();
while(1)
{
if(LCD_BUSY == 0)//P07 == 0跳出循環
break;
} */
delayms_lcd(2);//仿真時用延時法下載到真實單片機上時，將這句注釋掉，采用上面的語句。
}
void lcdwrcom(uchar command)//寫指令
{
busy_check();
RW = 0;//寫
RS = 0;//指令寄存器
LCD_DATA = command;
LCDEN = 1;//負跳變寫入指令
_nop_();
_nop_();
_nop_();
_nop_();
LCDEN = 0;
}
void lcdwrdata(uchar lcd_data)//寫數據數字、字母、標點符號都是數據
{
busy_check();
RW = 0;//寫
RS = 1;//數據寄存器
LCD_DATA = lcd_data;
LCDEN = 1;//負跳變寫入指令
_nop_();
_nop_();
_nop_();
_nop_();
LCDEN = 0;
}
void lcd_init()
{
delayms_lcd(15);//必要 lcd1602上電到電壓穩定需要時間
RW = 0;//寫
RS = 0;//指令寄存器
LCD_DATA = 0x38;// 0x38設置顯示模式為：16X2 顯示,5X7 點陣,8 位數據接口'
LCDEN = 1;
_nop_();
_nop_();
_nop_();
_nop_();
LCDEN = 0;
delayms_lcd(5);
lcdwrcom(0x0c);//打開顯示無光標不閃爍
lcdwrcom(0x06);//指令3 光標右移屏幕所有文字移動無效
lcdwrcom(0x01);// 清顯示，光標復位到地址00H位置。
}
//LCD擴展函數：
void address(uchar x,uchar y) //定位下一步要寫數的地址
{
uchar location;
if(x == 0)
location = 0x80|y;
else
location = 0xC0|y;
lcdwrcom(location);
}
void printchar(uchar x,uchar y,uchar letter)//顯示字母、單個字符
{
address(x,y);
lcdwrdata(letter);
}
void printword(uchar x,uchar y,uchar *word) //顯示單詞（字符數組）
{
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)//顯示無符號整形 0~65535 x:行 y：列 num_ws_max 變量的最大位數
{
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'; //手動加字符串結束標志
}
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類型最大值65535 為5位數
{
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 // 實現功能：在此變量的位數范圍內，把沒數字的位存0x20（空格）
//例如：最大有3位：999 當變為99時，存為9+'0' 9+'0' 0x20
}
}
}
//******************* lcd1602結尾 *****************************

復制代碼

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