双闭环控制直流电机转速C51单片机

#include "stc.h" #include "nokia_5110.h" #include "input.h" #include "menu.h" #include "delay.h" #include "ad.h" #include "uart.h" #include "UartPro.h" /* ********************************************************** -------main函数-------- *函数名：主函数 *备 注： ********************************************************** */ sbit LED = P0^7; sbit RelayArmature = P1^1;//B3 //yellow middle sbit RelayExcitation = P1^2;//B5 #define Out P2 #define Pn 0.1f #define In 0.1f #define Dn 0 #define Pi 0.1f #define Ii 0.1f #define Di 0 #define OFFI 10.0f #define MAXIPIDADDOUT 2.0f #define MINIPIDADDOUT -2.0f #define MINOUT 90.0f #define MAXNPIDADDOUT 5.0f #define MINNPIDADDOUT -5.0f #define MAXSETI 580.0f uchar selection; uint ADgetref; float ADgeti; float ADsum; uchar iii = 0; uint SetSpeed; uint NowSpeed; //uint Count; uchar timer1_interrupt_count; uchar count = 0; bit PID = 0; uchar flag = 0; float IPIDADDOUT = 0; float NPIDADDOUT = 0; float xdata errorn = 0; float xdata errornp = 0; float xdata errornpp = 0; float xdata refi; float xdata errori = 0; float xdata errorip = 0; float xdata erroripp = 0; float xdata TEMP = 255.0f; float u712; uint SetI = 500; uint IM; void SwitchOnandOff(); void SetSpeedByKey(); void SetSpeedByRP(); void SwitchOn(); void SwitchOff(); void init_io(); void init_Timer0(); void init_Timer1(); void init_ints(); void main() { delayfor(1000); LCD_Init(); LCD_Clear(); /*LCD_WriteString(0,0,"=Welcome="); LCD_WriteString(0,1,"Motor"); LCD_WriteString(0,2,"Controlling"); LCD_WriteString(0,3,"System"); delayms(20000); */ AD_init(); init_io(); init_Timer0(); init_Timer1(); init_ints(); InitUart(); TEMP = 255; P2 = 255; SetI = 500; EA = 1; PID = 0; while(1) { /* ADgeti = (AD_work(0)*16.5628f -43.1443f); if(ADgeti < 0) ADgeti = 0; u712 = AD_work(0);*/ selection = Menu_active((char **)mainMenuText, MAINMENUNUM); switch (selection) { case 1: SwitchOnandOff();break; case 2: SetSpeedByKey();break; case 3: SetSpeedByRP();break; default: break; } /* LCD_MyWriteNum(40,5,(uint)(ADgeti*1000),4); LCD_WriteString(0,5,"712i:"); LCD_WriteString(0,4,"712u:"); LCD_MyWriteNum(40,4,(uint)(u712*1000),4);*/ //LCD_MyWriteNum(0,5,0,4); } } void SwitchOnandOff() { while(1) { selection = Menu_active((char **)SwitchMenuText, SWITCHMENUNUM); switch (selection) { case 1: SwitchOn();break; case 2: SwitchOff();break; case 10:return; default: break; } } } void SetSpeedByKey() { /* while(1) { selection = Menu_active((char **)KeyMenuText, KEYMENUNUM); switch (selection) { case 1: { SetI = ADgetref; PID = 1; break; } case 10: { P2 = 255; TEMP = 255; PID = 0; return; } default: break; } //LCD_MyWriteNum(48,3,(uint)(ADgeti*1000),4); //Nowi //LCD_MyWriteNum(48,1,(uint)(P2),4); // LCD_MyWriteNum(0,2,ADgetref,4); //GIVEI LCD_MyWriteNum(0,3,SetI,4); //SETI OutPut_Data(); } */ // EA = 1; //开总中断允许位 LCD_Clear(); LCD_WriteString(0,0,"Set Speed"); LCD_WriteString(0,5,"Exit(S1)"); LCD_WriteString(0,4,"OK(S4)"); LCD_WriteString(24,1,"rpm"); LCD_WriteString(0,2,"Now Speed"); LCD_WriteString(24,3,"rpm"); delayms(1000); while(1) { LCD_MyWriteNum(0,1,ADgetref,4); //SetSpeed if(checkButton(4) == 1) { iii = 0; while(1) { //SetI = ADgetref; PID = 1; LCD_MyWriteNum(0,3,NowSpeed,4); //NowSpeed // LCD_MyWriteNum(48,3,(uint)(ADgeti*1000),4); //Nowi LCD_MyWriteNum(48,1,(uint)(P2),4); // OutPut_Data(); if(checkButton(1)==1) { //P2 = 255; //TEMP = 255; //PID = 0; //EA = 0; break; } } } else if(checkButton(1) == 1) { P2 = 255; TEMP = 255; //SetI = 500; PID = 0; //EA = 0; break; } } } void SetSpeedByRP() { // EA = 0; // PID = 0; LCD_Clear(); LCD_WriteString(0,0,"Set Speed"); LCD_WriteString(0,5,"Exit(S1)"); LCD_WriteString(24,1,"rpm"); LCD_WriteString(0,2,"Now Speed"); LCD_WriteString(24,3,"rpm"); P2 = 255; TEMP = 255; PID = 1; // EA = 1; //开总中断允许位 while(1) { //SetSpeed = ADgetref; //P2 = ADgetref; LCD_MyWriteNum(48,3,(uint)(ADgeti*1000),4); //Nowi LCD_MyWriteNum(48,1,(uint)(P2),4); //u712 显示的于pid计算的电流测量值 也就是712输出电压 LCD_MyWriteNum(0,1,(uint)(ADgetref),4); //SetSpeed LCD_MyWriteNum(0,3,NowSpeed,4); //NowSpeed //LCD_MyWriteNum(48,4,(uint)(TEMP),4); //LCD_MyWriteNum(48,5,(uint)(IPIDADDOUT),4); // delayms(100); /* LCD_MyWriteNum(0,1,ADgetref,4); LCD_MyWriteNum(0,3,NowSpeed,4);*/ //OutData[3] = TEMP; OutPut_Data(); if(checkButton(1)==1) { P2 = 255; TEMP = 255; PID = 0; // EA = 0; break; } } } void SwitchOn() { RelayExcitation = 0; delayms(2000); RelayArmature = 0; } void SwitchOff() { RelayArmature = 1; delayms(20000); RelayExcitation = 1; } void init_Timer0(void) //定时器0初始化 { //计数个数:0 TMOD &= 0xf0; TMOD |= 0x05; //设置定时器0模式为:16位计数模式 TH0 = 0x00; TL0 = 0x00; TR0 = 1; //启动定时器0 } void init_Timer1(void) //定时器1初始化 { //定时值(uS):50000 TMOD &= 0x0f; TMOD |= 0x10; //设置定时器1模式为:16位定时模式 TH1 = 0xFC; TL1 = 0x66; TR1 = 1; //启动定时器1 } void init_io(void) //io驱动模式 { P0M1 = 0x00; P0M0 = 0x00; P1M1 = 0x00; P1M0 = 0x00; P2M1 = 0x00; P2M0 = 0x00; P3M1 = 0x00; P3M0 = 0x00; P4M1 = 0x00; P4M0 = 0x00; } void init_ints(void) //外部中断初始化 { IP=0; ET1=1; //允许定时器1中断 } ///////////////////////////////////// interrupt /////////////////////////// void timer_1(void) interrupt 3 //定时器1中断 1ms { TH1 = 0xFC; //重装载 TL1 = 0x66; timer1_interrupt_count++; ADsum += AD_pro(0); //在此写定时器1中断服务程序 20ms if(timer1_interrupt_count == 20) { count ++; timer1_interrupt_count = 0; ADsum/= 20; //用于pid计算的电流测量值 也就是712输出电压 未经处理，为0~1024 IM = ADsum; // LED = 1; if(PID == 1) { errori = (float)((float)(SetI) - (float)(IM)); //电流误差 IPIDADDOUT = Pi*(errori-errorip) + Ii*errori +Di*(errori-errorip-errorip+erroripp);//电流度控制输出，应限幅 if(IPIDADDOUT > MAXIPIDADDOUT) {IPIDADDOUT = MAXIPIDADDOUT; } if(IPIDADDOUT < MINIPIDADDOUT) {IPIDADDOUT = MINIPIDADDOUT; } TEMP -= IPIDADDOUT; if(TEMP<MINOUT) TEMP = MINOUT; P2 = (uint)(TEMP); erroripp = errorip; errorip = errori; OutData[0] = P2; OutData[1] = IPIDADDOUT; OutData[2] = IM; } u712 = ADsum * 0.005068f; ADgeti = (u712*17.1181f -44.1782f); //20041197 if(ADgeti < 0) ADgeti = 0; //用于显示的电流测量值 if(ADgeti > OFFI) { SwitchOff(); } ADsum = 0; // 0 1 2 3 4 5 6 //509.2323741 520.7591537 532.2859333 543.8127129 555.3394925 566.8662721 578.3930517 if (count == 5) //100ms { //if(SeiI == 500) SetI = 532; /*ii++; if(SetI==532) flag = 0; //2A if(SetI==567) flag = 1; //5A //pretend that nowspeed >500 if(ii > 100) {flag = 2;ii = 0;} if(flag == 0) {SetI += 5;} else if(flag == 1) {SetI = 566; ii = 0;} else if(flag == 2) SetI -=5;