Proteus 仿真PID电机控制【原创】

#include "sysconfig.h" #include "lcd.h" #include "pid.h" #include "math.h" #include "key.h" typedef struct { u8 SPEED_SetSpeed; u8 PID_P; u8 PID_I; u8 PID_D; u8 PID_Z; }SYS_SetStructTypeDef; SYS_SetStructTypeDef SYS_SetStruct; bit TIM0_500uSFlag = FALSE; u8 TIM_500msCounter; u8 TIM_1SCounter; u8 TIM_10mSCounter; u16 SPEED_CheckSpeedCounter; u16 SPEED_SpeedValue; bit SPEED_OldState; u8 PWM_Counter; u8 PWM_Duty; u8 SYS_SetMode = 1; bit LCD_FlashSetSpeed; bit LCD_FlashSetP; bit LCD_FlashSetI; bit LCD_FlashSetD; bit LCD_FlashSetZ; bit LCD_FlashFlagSetSpeed = FALSE; bit LCD_FlashFlagSetP = FALSE; bit LCD_FlashFlagSetI = FALSE; bit LCD_FlashFlagSetD = FALSE; bit LCD_FlashFlagSetZ = FALSE; extern u8 KEY_Value; u16 SPEED_ValueBuffer[10]; u8 SPEED_ResultValue; bit TIM1_10uSFlag = FALSE; u8 SYS_SetTimeOutCounter = 0; static PID_TypeDef PID_Value; void TIM_Init(){ TMOD = 0x11; TH0 = 0xfe; TL0 = 0x0c; TH1 = 0xff; TL1 = 0xf6; TR0 = 1; TR1 = 1; ET0 = 1; ET1 = 1; EA = 1; } void TIM0_IRQHandle() interrupt T0 using 1 { EA = 0; TF0 = 0; TH0 = 0xfe; TL0 = 0x0c; TIM0_500uSFlag = TRUE; EA = 1; } void TIM1_IRQHandle() interrupt T1 using 3 { EA = 0; TF1 = 0; TH1 = 0xff; TL1 = 0xf6; TIM1_10uSFlag = TRUE; EA = 1; } void SPEED_Init(){ TIM_Init(); TIM_500msCounter = 0; TIM_1SCounter = 0; TIM_10mSCounter = 0; SPEED_OldState = FALSE; SPEED_CheckSpeedCounter = 0; PID_IncInit(&PID_Value); SYS_SetStruct.SPEED_SetSpeed = 12; PWM_Duty = 50; SYS_SetStruct.PID_P = 120; SYS_SetStruct.PID_I = 110; SYS_SetStruct.PID_D = 0; SYS_SetStruct.PID_Z = 10; } //中值滤波器 //u16 GetMedianNum(u16 * bArray, u8 len){ // u8 i,j; // u16 bTemp; // for (j = 0; j < len - 1; j ++){ // for (i = 0; i < len - j - 1; i ++){ // if (bArray[i] > bArray[i + 1]){ // bTemp = bArray[i]; // bArray[i] = bArray[i + 1]; // bArray[i + 1] = bTemp; // } // } // } // if ((len & 1) > 0) // bTemp = bArray[(len + 1) / 2]; // else // bTemp = (bArray[len / 2] + bArray[len / 2 + 1]) / 2; // return bTemp; //} void SPEED_MiddleValue(){ // static u8 count; // SPEED_ValueBuffer[count] = SPEED_SpeedValue; // if(count ++ >= 10) // count = 0; SPEED_ResultValue = SPEED_SpeedValue; // GetMedianNum(SPEED_ValueBuffer, 0); } void PID_Process(){ PID_IncSetRatio(SYS_SetStruct.PID_P,SYS_SetStruct.PID_I,SYS_SetStruct.PID_D,SYS_SetStruct.PID_Z,&PID_Value); PID_IncSetRatioLimit(1,100,1,&PID_Value); SPEED_MiddleValue(); PID_IncCompute(SPEED_ResultValue - SYS_SetStruct.SPEED_SetSpeed , &PWM_Duty, &PID_Value); } void LCD_InfDisp(){ u8 grap; grap = abs(SPEED_ResultValue - SYS_SetStruct.SPEED_SetSpeed); if(grap > 10) LED1 = 0; else LED1 = 1; if(PWM_Duty > 50) LED2 = 1; else LED2 = 0; LCD_Display(0,1,"SPEED:"); LCD_DisplayNumber(6,1,SPEED_ResultValue); if(LCD_FlashSetSpeed == TRUE) LCD_Display(11,1," "); else LCD_Display(11,1,"SET:"); LCD_DisplayNumber(15,1,SYS_SetStruct.SPEED_SetSpeed); LCD_Display(0,2,"GRAP:"); LCD_DisplayNumber(5,2,grap); LCD_Display(10,2,"DUTY:"); LCD_DisplayNumber(15,2,PWM_Duty); if(LCD_FlashSetP == TRUE) LCD_Display(0,3," "); else LCD_Display(0,3,"P:"); LCD_DisplayNumber(2,3,SYS_SetStruct.PID_P); if(LCD_FlashSetI == TRUE) LCD_Display(5,3," "); else LCD_Display(5,3,"I:"); LCD_DisplayNumber(7,3,SYS_SetStruct.PID_I); if(LCD_FlashSetD == TRUE) LCD_Display(10,3," "); else LCD_Display(10,3,"D:"); LCD_DisplayNumber(12,3,SYS_SetStruct.PID_D); if(LCD_FlashSetZ == TRUE) LCD_Display(15,3," "); else LCD_Display(15,3,"Z:"); LCD_DisplayNumber(17,3,SYS_SetStruct.PID_Z); } void SPEED_TimerDriver(){ static u8 flashCounter = 0; if(TIM0_500uSFlag == TRUE){ TIM0_500uSFlag = FALSE; if((SPEED_OldState == RESET) && (SPEED == SET)){ SPEED_SpeedValue = SPEED_CheckSpeedCounter; SPEED_CheckSpeedCounter = 0; } SPEED_CheckSpeedCounter ++; SPEED_OldState = SPEED; if(++ TIM_10mSCounter >= 20){ u8 *middleValue; middleValue = (u8 *)&SYS_SetStruct + SYS_SetMode - 1; TIM_10mSCounter = 0; PID_Process(); KEY_Scan(); if(KEY_Released == TRUE){ KEY_Released = FALSE; switch(KEY_Value){ case KEY_Up: (*middleValue) += 10; SYS_SetTimeOutCounter = 5; break; case KEY_Down: (*middleValue) -= 10; SYS_SetTimeOutCounter = 5; break; case KEY_Left: (*middleValue) --; SYS_SetTimeOutCounter = 5; break; case KEY_Right: (*middleValue) ++; SYS_SetTimeOutCounter = 5; break; case KEY_Move: LCD_FlashFlagSetSpeed = FALSE; LCD_FlashFlagSetP = FALSE; LCD_FlashFlagSetI = FALSE; LCD_FlashFlagSetD = FALSE; LCD_FlashFlagSetZ = FALSE; SYS_SetTimeOutCounter = 5; if(++ SYS_SetMode >= 6) SYS_SetMode = 1; if(SYS_SetMode == 1) LCD_FlashFlagSetSpeed = TRUE; else if(SYS_SetMode == 2) LCD_FlashFlagSetP = TRUE; else if(SYS_SetMode == 3) LCD_FlashFlagSetI = TRUE; else if(SYS_SetMode == 4) LCD_FlashFlagSetD = TRUE; else if(SYS_SetMode == 5) LCD_FlashFlagSetZ = TRUE; break; case KEY_Enter: break; } } LCD_InfDisp(); if( ++ TIM_500msCounter >= 50){ TIM_500msCounter = 0; LED0 = ~LED0; if(SYS_SetTimeOutCounter-- == 1){ SYS_SetTimeOutCounter = 0; SYS_SetMode = 1; LCD_FlashFlagSetSpeed = FALSE; LCD_FlashFlagSetP = FALSE; LCD_FlashFlagSetI = FALSE; LCD_FlashFlagSetD = FALSE; LCD_FlashFlagSetZ = FALSE; } } if(++ flashCounter >= 10){ if(LCD_FlashFlagSetSpeed == FALSE) LCD_FlashSetSpeed = FALSE; else LCD_FlashSetSpeed = ~LCD_FlashSetSpeed; if(LCD_FlashFlagSetP == FALSE) LCD_FlashSetP = FALSE; else LCD_FlashSetP = ~LCD_FlashSetP; if(LCD_FlashFlagSetI == FALSE) LCD_FlashSetI = FALSE; else LCD_FlashSetI = ~LCD_FlashSetI; if(LCD_FlashFlagSetD == FALSE) LCD_FlashSetD = FALSE; else LCD_FlashSetD = ~LCD_FlashSetD; if(LCD_FlashFlagSetZ == FALSE) LCD_FlashSetZ = FALSE; else LCD_FlashSetZ = ~LCD_FlashSetZ; } } } if(TIM1_10uSFlag == TRUE){ TIM1_10uSFlag = FALSE; if(++ PWM_Counter >= 100) PWM_Counter = 0; if(PWM_Counter >= PWM_Duty) MOTOR = 1; else MOTOR = 0; } }