PID控制的三个经典仿真proteus.zip

#include"reg51.h" #define uchar unsigned char #define uint unsigned int #define ulong unsigned long /*****************引脚定义*********************************/ sbit output=P2^5; /********************************/ sbit CLOCK=P3^1; sbit D_IN=P2^7; sbit D_OUT=P2^6; sbit _CS=P3^0; /********************************/ sbit lcdrs=P2^0; sbit lcdrw=P2^1; sbit lcden=P2^2; /********************************/ sbit in1=P2^3; sbit in2=P2^4; /********************************/ sbit led=P3^2; sbit speaker=P3^3; /*****************引脚定义*********************************/ /*****************变量定义（申明）*********************************/ int freq=500,pwm=0; uchar setflag=0,pageflag=0,ok=0; float pwm_temp=0; float KP=100,KI=10,KD=0; uint pul_count=0; float ek=0,ek1=0,ek2=0; float keytemp=0; uchar code str[16]=" welcome! "; uchar code str1[16]=" temperature PID"; uchar code str2[16]="set-T pra-T " ; uchar code str3[16]="P: I: D:" ; uchar code str4[16]="set-P: " ; uchar code str5[16]="set-I: " ; uchar code str6[16]="set-D: " ; void Init(void); uint adcread(uchar port); void delay(uint n); void writecom(uchar com); void writedata(uchar date); void initlcd(); float keyscan(void); uchar keyscans(void); void lcdnumdisplay(uchar pos,double f); void lcdnumdisplays(uchar pos,double f); uint read_pul(); void mypid(float Kp,float Ki,float Kd,uint count,uint point); /*****************变量定义（申明）*********************************/ void main() { uchar i;float scantemp; float adnum0=0; float adnum1=0; bit init0,init1,init2,init3,init4; Init(); initlcd(); writecom(0x80); for(i=0;i<16;i++)writedata(str[i]); //huanyin writecom(0x80+0x40); for(i=0;i<16;i++)writedata(str1[i]); //shuming delay(400); while(1) { pwm_temp=500*(float)(adnum0)/4095; //pwm=pwm_temp; mypid(KP,KI,KD,adnum1,pwm_temp); scantemp=keyscan(); if(adnum1>=pwm_temp-1.5&&adnum1<=pwm_temp+1.5) { led=0; speaker=1; } else{ led=1; speaker=0; } if(setflag==0) { adnum0=adcread(0); adnum1=adcread(1)/10; if(init0==0) { initlcd(); writecom(0x80); for(i=0;i<16;i++)writedata(str2[i]); //shuming init0=1;init1=0;init2=0;init3=0;init4=0; } lcdnumdisplays(0x80+0x40,(float)pwm_temp); //pwm_temp lcdnumdisplays(0x80+0x4a,(float)adnum1); } if(setflag!=0&&pageflag==0) { if(init1==0) { initlcd(); writecom(0x80); for(i=0;i<16;i++)writedata(str3[i]); init0=0;init1=1;init2=0;init3=0;init4=0; } lcdnumdisplays(0x80+0x40,KP); lcdnumdisplays(0x80+0x46,KI); lcdnumdisplays(0x80+0x4D,KD); } if(setflag!=0&&pageflag==1) { if(init2==0) { initlcd(); writecom(0x80); for(i=0;i<16;i++)writedata(str4[i]); init0=0;init1=0;init2=1;init3=0;init4=0; } lcdnumdisplays(0x80+0x40,scantemp); if(ok==1){KP=scantemp;ok=0;} } if(setflag!=0&&pageflag==2) { if(init3==0) { initlcd(); writecom(0x80); for(i=0;i<16;i++)writedata(str5[i]); init0=0;init1=0;init2=0;init3=1;init4=0; } lcdnumdisplays(0x80+0x40,scantemp); if(ok==1){KI=scantemp;ok=0;} } if(setflag!=0&&pageflag==3) { if(init4==0) { initlcd(); writecom(0x80); for(i=0;i<16;i++)writedata(str6[i]); init0=0;init1=0;init2=0;init3=0;init4=1; } lcdnumdisplays(0x80+0x40,scantemp); if(ok==1){KD=scantemp;ok=0;} } } } void mypid(float Kp,float Ki,float Kd,uint count,uint point) { static float Uk; ek=point-count; // if(ek>=5&&ek<=-5) //积分分离 {Uk=Kp*(ek-ek1)+Ki*ek+Kd*(ek-2*ek1+ek2);} // else // Uk=Kp*ek; pwm=pwm+Uk; if(pwm>freq)pwm=freq; if(pwm<=0){pwm=0;in1=0;in2=1;} if(pwm>0) {in1=1;in2=0;} ek2=ek1; ek1=ek; } uint read_pul() { uint t1,th1,th2; uint val; while(1) { th1=TH1; t1=TL1; th2=TH1; if(th1==th2) break; } val=th1*256+t1; return val; } void delay(uint n) { uint i,j; for(i=n;i>0;i--) for(j=1;j>0;j--); } void Init(void)//初始化函数 { TMOD=0x51; TH0=(65536-10)/256; TL0=(65536-10)%256; EA=1; ET0=1; TR0=1; TH1=0; TL1=0; TR1=1; } void Timer_0(void) interrupt 1 { static ulong t_count=0; static uint num_count=0; TR0=0; TH0=(65536-10)/256; TL0=(65536-10)%256; TR0=1; num_count++; // t_count++; // if(t_count==2320) // { // t_count=0; // TR1=0; // pul_count=read_pul(); // TH1=0; // TL1=0; // TR1=1; // } if(num_count>freq)num_count=0; //1khz; if(num_count<pwm)output=1; else output=0; } void writecom(uchar com) { lcdrs=0; P0=com; delay(1); lcden=1; delay(1); lcden=0; } void writedata(uchar date) { lcdrs=1; P0=date; delay(1); lcden=1; delay(1); lcden=0; } void initlcd() { lcdrw=0; writecom(0x38);delay(1); writecom(0x0c);delay(1); writecom(0x06);delay(1); writecom(0x01);delay(5); } uint adcread(uchar port) { uint ad=0,i; CLOCK=0; _CS=0; port<<=4; for(i=0;i<12;i++) { if(D_OUT) ad|=0x01; D_IN=(bit)(port&0x80); CLOCK=1; delay(1); CLOCK=0; delay(1); port<<=1; ad<<=1; } _CS=1; ad>>=1; return(ad); } void lcdnumdisplays(uchar pos,float f) //(0.001-99999) 精度低 但方便数据更新 { uchar i; writecom(pos); if(f>65535&&f<0.001) for(i=0;i<5;i++)writedata(0x23);//超出范围 显示# else if(f==0){writedata(0x30);for(i=0;i<4;i++)writedata(0x20);} else { if((uint)f/10000!=0) { writedata((uint)f/10000+0x30); writedata((uint)f%10000/1000+0x30); writedata((uint)f%1000/100+0x30); writedata((uint)f%100/10+0x30); writedata((uint)f%10+0x30); } else { if((uint)f/1000!=0) { writedata(0+0x30); writedata((uint)f/1000+0x30); writedata((uint)f%1000/100+0x30); writedata((uint)f%100/10+0x30); writedata((uint)f%10+0x30); } else { if((uint)f/100!=0) { writedata((uint)f/100+0x30); writedata((uint)f%100/10+0x30); writedata((uint)f%10+0x30); writedata(0x2e); writedata((uint)(f*10)%10+0x30); } else { if((uint)f/10!=0) { writedata((uint)f/10+0x30); writedata((uint)f%10+0x30); writedata(0x2e); writedata((uint)(f*10)%10+0x30); writedata((uint)(f*100)%10+0x30); } else { writedata((uint)f%10+0x30); writedata(0x2e); writedata((uint)(f*10)%10+0x30); writedata((uint)(f*100)%10+0x30); writedata((uint)(f*1000)%10+0x30); } } } } } } void lcdnumdisplay(uchar pos,float f0) //(0.00001-99999.99999) 精度高 但数据需刷屏更新 { uchar temp; ulong f; writecom(pos); f=(ulong)f0; temp=f/10000; //整数部分 if(temp!=0) { writedata(temp+0x30); writedata(f%10000/1000+0x30); writedata(f%1000/100+0x30); writedata(f%100/10+0x30); writedata(f%10+0x30); } else { temp=f%10000/1000; if(temp!=0) { writedata(temp+0x30); writedata(f%1000/100+0x30); writedata(f%100/10+0x30); writedata(f%10+0x30); } else { temp=f%1000/100; if(temp!=0) { writedata(temp+0x30); writedata(f%100/10+0x30); writedata(f%10+0x30); } else { temp=f%100/10; if(temp!=0) { writedata(temp+0x30); writedata(f%10+0x30); } else { temp=f%10; if(temp!=0) { writedata(temp+0x30); } else writedata(0+0x30); }