神经网络PID控制源程序

/*--------------------------------------------------------*/ /* WQ21ST SOFTWARE STUDIO. */ /*--------------------------------------------------------*/ /* EVM Test Code Shell */ /*--------------------------------------------------------*/ #include "sci2407.h" #include "register1.h" #include <stdlib.h> #include "math.h" unsigned int error_code; /* ms byte = main test #, ls byte = error code */ unsigned int halt_on_error; unsigned int print_on_error; unsigned int led_error_code; unsigned int print_header; /*varies of uart*/ unsigned int getchar1; unsigned int configdata; unsigned int count=0; unsigned int pcdata[42]; unsigned int stopflag=0; float kp=0,ki=0,kd=0,outspeed=0; float error[3]={0,0,0}; float error2=0; float runspeed=0 ; float forrunspeed=0; int pidi,pidf;/*整数部分，小数部分*/ float midspeed [10]={0,0,0,0,0,0,0,0,0,0}; /*varies of nni*/ float hidein[4]={0,0,0,0},hideout[4]={0,0,0,0},forhideout[4]={0,0,0,0}; /*隐层输入，输出，以及前一时刻隐层输出*/ float identy_out=0; /*辨识器输出*/ float drnn_12[4][4],fordrnn_12[4][4]={0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0}, drnn_22[4],fordrnn_22[4]={0,0,0,0}, drnn_23[4],fordrnn_23[4]={0,0,0,0}; /*三层权值*/ float midr[4]={0,0,0,0}; /*隐层输出对隐层权值的微分*/ float midw[4][4]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; /*隐层输出对输入层权值的微分*/ float dividef=0; /*活化函数导数*/ float aceleration; /*惯性系数*/ /*varies of nnc*/ float x1,x2,x3; /*middle variy of input*/ float studyspeed[3]={0,0,0}; float mul; /*误差和返回电压的乘积*/ float mide1=0,mide2=0,mide3=0; /*x1,x3的算式*/ float backspeed; /*返回速度的电压值*/ float addw; /*权值和*/ float yout[2]={0,0}; float yback[2]={0,0}; float divide_yu=0; /*辨识器输出对输入电压的微分*/ #define PS2 0x0800 #define PS1 0x0400 #define PS0 0x0200 #define FREQIN4 ( 0 ) #define FREQIN2 ( ( PS0 ) ) #define FREQIN1_33 ( ( PS1 ) ) #define FREQIN1 ( ( PS1 ) | ( PS0 ) ) #define FREQIN_8 ( ( PS2) ) #define FREQIN_66 ( ( PS2) | ( PS0) ) #define FREQIN_57 ( ( PS2) | ( PS1) ) #define FREQIN_50 ( ( PS2) | ( PS1) | ( PS0) ) #define SCSR1 0x7018 #define SCSR1_PTR ((unsigned int*)SCSR1) double ipart ; double fpart ; double ipart1 ; double fpart1 ; double ipart2 ; double fpart2 ; double ipart3 ; double fpart3 ; float midv ; float midv1 ; float midv2 ; float midv3 ; float midv4 ; int me1 ; /*设置振晶频率*/ void set_pll( void ) { unsigned int scsr1_val; unsigned int set_freq; scsr1_val = *SCSR1_PTR; scsr1_val &= (~(PS2 | PS1 | PS0 )); set_freq = FREQIN2; scsr1_val |= set_freq; /* For rev 1.1 devices 30 mhz */ *SCSR1_PTR = scsr1_val; wait_ms(200); } #define MS_TIME_LOOP 0x500 unsigned int wait_ms( volatile unsigned int delay_val ) { unsigned int i; /* unsigned int ms_ctr; */ int ms_ctr; for ( i = 0; i < delay_val; i++ ) { ms_ctr = MS_TIME_LOOP; while ( ms_ctr ) { ms_ctr--; } } return( delay_val ); } /*************************/ void bad_trap(void); void bad_trap(void) { return; /* a place to hang if illegal trap*/ } /**********************/ void set_wait(void); /*设置io空间的状态寄存器*/ void set_wait(void) { configdata = IOWSB1+DSWSB1+PSWSB1; /* 2 waits for off chip I/O */ OUTMAC( _WSGR, configdata); } /*设置系统时钟*/ void set_system(void) { unsigned int SCSR1_Data; SCSR1_Data = *(volatile unsigned int*)SCSR1; SCSR1_Data |= (ADC_CLKEN | SCI_CLKEN | SPI_CLKEN | CAN_CLKEN | EVB_CLKEN | EVA_CLKEN); *(volatile unsigned int*)SCSR1 = SCSR1_Data; } /*试验板设置，系统振晶设置*/ void test_init(void) { error_code = 0; /* show no error */ halt_on_error = 1; /* stop if error occurred */ print_on_error = 0; /* do not print error info to uart */ led_error_code = 0; /* don't put on leds */ print_header = 0; /* do not print header info to uart */ set_wait(); /* set up wait states for I/O */ set_system(); set_pll(); } /****************************/ #define TESTING_OUTPUT 0 #define TEST_UART 0 typedef volatile struct sci SCI_STRUCT; unsigned int uart_send_char; unsigned int uart_rec_char; SCI_STRUCT *sciptr; /* pointer to sci defined structure */ unsigned char uart1_test_msg[20]; /*串口初始化*/ void init_uart1(void) { volatile unsigned int OCRAReg; sciptr = (SCI_STRUCT *)SCI; /* overlay structure over the hardware */ /* 0x7050 for C2407 */ /* 1 stop, no parity, 8 data, async */ /* 0x17 */ /* Reset the uart */ sciptr->ctl1 = 0; wait_ms( 1 ); sciptr->ctl1 = SW_RESET; /* reset low, clock internal, */ /* xmit enable, rec enable */ /* 0x13 */ sciptr->ccr = (unsigned int) ( SCI_CHAR2 | SCI_CHAR1 | SCI_CHAR0); /* enable TX & RX ints */ sciptr->ctl2 = (unsigned int) 0x0000; /* no interrupts */ /* load the baud rate */ sciptr->baud_hi = (unsigned int) (BAUD_9600 / 0x100); sciptr->baud_lo = (unsigned int) (BAUD_9600 % 0x100); /*定义io口引脚为串口用功能*/ OCRAReg = *(volatile unsigned int *)OCRA; OCRAReg = (TXD_FUNCTION | RXD_FUNCTION); *(volatile unsigned int *)OCRA = OCRAReg; /*优先级设置，程序无中断*/ sciptr->pri = PRI_SOFT; /*串行通信控制寄存器*/ sciptr->ctl1 = (unsigned int) (SW_RESET | TX_ENA | RX_ENA); } /*判断接受缓存是否有值*/ unsigned int chk_uart1_rec_full(void) { unsigned int ctr, rec_full_status; rec_full_status = 0; ctr = 10000; while ((!rec_full_status) && (ctr--)) { rec_full_status = sciptr->rxst; rec_full_status &= RXRDY; } if (!ctr) { rec_full_status = 0; } return(rec_full_status); } /*检测缓存是否为空*/ unsigned int chk_uart1_xmit_empty(void) { unsigned int ctr, xmit_empty_status; xmit_empty_status = 0; /**************************************************/ /*ctr = 10000;*/ xmit_empty_status = 0; xmit_empty_status = sciptr->ctl2; /* read xmit status */ xmit_empty_status &= TX_EMPTY; return(xmit_empty_status); } /*读取字符后，转换实值*/ float get_value(int j) { int i; int l; int n=1; float value=0; for(l=0;l<4-pcdata[j];l++) { n=n*10; } value=pcdata[j+2]*1000+pcdata[j+3]*100+pcdata[j+4]*10+pcdata[j+5]; value=value/n; return(value); } /*read the value of pid from group pcdata[]*/ void valuepid() { kp=get_value(0); ki=get_value(6); kd=get_value(12); outspeed=get_value(18); studyspeed[0]=get_value(24); studyspeed[1]=get_value(30); studyspeed[2]=get_value(36); } /*读取字符*/ unsigned int uart1_get_char(void) { unsigned int ctr, rec_full_status; unsigned int in_char; rec_full_status = chk_uart1_rec_full(); if (rec_full_status) { in_char = sciptr->rxbuf; /* get data from rec buffer */ in_char &= 0x00ff; if(in_char==67) { count=0 ; return((unsigned int)0x8000); } if(count>=42){count=0;} pcdata[count]=in_char-48; if(in_char==65) { count=-1; kp=0; ki=0; kd=0; runspeed=0; stopflag=0; } if(in_char==66) { count=-1; stopflag=1;