PID控制液晶显示的水温控制程序（C语言）

#include<reg52.h> #include"delay.h" #include"LCD_1602.h" #include"ds18b20.h" //#include"pid_adjust.h" #define uchar unsigned char #define uint unsigned int sbit kaitong=P2^0; //int set_value=500,cc,dd;//放大十倍//,dead_wide,Kp,KI,KD,man_value,limit; 2009-12-23修改 //uint P_sel=1,I_sel=1,D_sel=0,man=1; int aa,cc,dd,tt,set_value,bb,ee,g,j,mm,now_value; uchar shi,ge,fig; uchar mn=1; uchar yu=1; uchar code table[]="Fortune Favours";/*15位*/ uchar code table1[]="The Bold";/*8*/ uchar code table2[]="Chen Qi" ; /*13位*/ uchar code table3[]="200706070211" ; /*12位*/ uchar code table4[]="Luo Hongjian"; /*12位*/ uchar code table5[]="200706070219"; /*12位*/ uchar code table6[]=" " ; /*7位*/ uchar code table7[]=" " ;/*12位*/ uchar code table8[]=" "; /*12位*/ uchar code table9[]=" ";/*12位*/ uchar shu; uchar CGCODE[]={0x08,0x0F,0x12,0x0F,0x0A,0x1F,0x02,0x02,//"年"代码 0x00 0x0F,0x09,0x0F,0x09,0x0F,0x09,0x13,0x00,//"月"代码 0x01 0x0F,0x09,0x09,0x0F,0x09,0x09,0x0F,0x00,//"日"代码 0x02 }; uchar tab[]={'2','0','1','0',0x00,'7',0x01,'1','4',0x02};//显示年月日 int SetPoint=500,PrevError=0,LastError=0,Error=0,dError=0; long int SumError=0; float Proportion=0.24,Integral=0.001,Derivative=3.00; /*==================================================================================================== PID计算部分 =====================================================================================================*/ int PIDCalc(int NextPoint) { Error = SetPoint - NextPoint; // 偏差 if(Error>=100) return(20); else if((Error<100)/*&&(Error>0)*/) { if(Error<50) SumError += Error; // 积分 dError = Error - LastError; // 当前微分 PrevError = LastError; LastError = Error; if(dError>0) dError=dError*15; return (Proportion*Error+ Integral * SumError+ Derivative * dError); } else { SumError+=Error; return 0; } } uchar keyscan() { uchar temp,num; num=0; P1=0xff; temp=P1; if(P1!=0xff) { delayl(5); P1=0xff; temp=P1; if(temp!=0xff) { temp=P1&0xff; switch(temp) { case 0xf7:num=3;break; case 0xef:num=6;break; case 0xfe:num=1;break; case 0xfd:num=2;break; case 0xfb:num=5;break; case 0xdf:num=4;break; default:num=0;break; } } } return num; } //*********三位按键设计***********// /*uchar keyscan2(uchar a) { uchar num1; uchar shi; shi=a; num1=keyscan(); switch (num1) { case 1:shi++;break; case 4:shi--;break; } if (shi>'9') shi='0'; if (shi<'0') shi='9'; tt=(shi-'0')*100; return (shi); } uchar keyscan3(uchar b) { uchar num2; uchar ge; ge=b; num2=keyscan(); switch (num2) { case 2:ge++;break; case 5:ge--;break; } if (ge>'9') {ge='0';tt++;} if (ge<'0') {ge='9';tt--;} bb=tt+(ge-'0')*10; return (ge); } uchar keyscan4(uchar c) { uchar num3; uchar fig; fig=c; num3=keyscan(); switch (num3) { case 3:fig++;break; case 6:fig--;break; } if (fig>'9') {fig='0';bb++;} if (fig<'0') {fig='9';bb--;} ee=bb+(fig-'0')*1; return (fig); } */ /* float calculate_error(float process) { float error; error=set_value-process; if(abs(error)<dead_wide) return 0; else return error; } float PID(float error) { float P_cal,I_cal,D_cal; static float last_error,last_last_error; P_cal = Kp*error*P_sel; I_cal = KI*P_cal*I_sel; D_cal = KD*Kp*(error-2.0*last_error+last_last_error)*D_sel; last_last_error=last_error; last_error=error; return P_cal+I_cal+D_cal; } float man_auto(float PID_result) { static float last_out; if(man == 0) return last_out = (abs(PID_result-last_out)<=limit?PID_result:last_out+limit); else return last_out = (abs(man_value-last_out)<=limit?man_value:last_out+limit) ; } */ /*void duty(int z) //2009年12月24日11点测试，纯比例控制 { cc=z; } void adjust(int now_value) { j=ee+set_value; aa=j-now_value; mm=now_value-j; if(aa>=100) duty(20); else if((aa<100)&&(aa>0)) { duty(aa/5+5); } else duty(0); } */ //******2009年12月24日15点测试，比例积分微分控制********// /*void duty(int z) { cc=z; } void adjust(int now_value) { // j=ee+set_value; // SetPoint=j; // aa=j-now_value; // mm=now_value-j; // duty(PIDCalc(now_value)); } */ /* STC_init() { TMOD=0x01;//定时器0，工作方式2； EA=1; ET0=1; TH0=0x3C; TL0=0xB0; //10ms进入中断一次 TR0=1; } */ //***********主函数*******************// void main() { int i,temp_e1,temp_e2,p; uchar num='5'; uchar sca='0'; uchar fig='0'; //STC_init(); LCD_init(); /*setPosition(1,2); prints("Spring brother"); setPosition(2,2); prints("is a pure man!"); delayl(2000); setPosition(1,2); prints(" brother"); setPosition(2,2); prints(" a pure man!"); delayl(2000); */ //***************字幕整体输出*************// write_com(0x01); write_com(0x80+0x11); for(shu=0;shu<15;shu++) { write_data(table[shu]); delayl(20); } write_com(0x80+0x54); for(shu=0;shu<8;shu++) { write_data(table1[shu]); delayl(20); } for(shu=0;shu<17;shu++) { write_com(0x18); delayl(300); } delayl(1200); for(shu=0;shu<17;shu++) { write_com(0x1c); delayl(300); } //***************打字方式字幕输出*************// /* write_com(0x01); write_com(0x80+0x05); for(shu=0;shu<7;shu++) { write_data(table2[shu]); delayl(200); } delayl(2000); write_com(0x80+0x42); for(shu=0;shu<12;shu++) { write_data(table3[shu]); delayl(200); } delayl(2000); */ //***************打字方式字幕消失*************// /*write_com(0x80+0x05); for(shu=0;shu<7;shu++) { write_data(table6[shu]); delayl(200); } write_com(0x80+0x42); for(shu=0;shu<12;shu++) { write_data(table7[shu]); delayl(200); } delayl(2000); */ //***************打字方式字幕输出*************// write_com(0x01); write_com(0x80+0x02); for(shu=0;shu<12;shu++) { write_data(table4[shu]); delayl(200); } write_com(0x80+0x42); for(shu=0;shu<12;shu++) { write_data(table5[shu]); delayl(200); } delayl(2000); for(shu=0;shu<15;shu++) { write_com(0x18); delayl(500); } delayl(1200); //***************打字方式字幕消失*************// /* write_com(0x80+0x02); for(shu=0;shu<12;shu++) { write_data(table8[shu]); delayl(200); } write_com(0x80+0x42); for(shu=0;shu<12;shu++) { write_data(table9[shu]); delayl(200); } delayl(2000); */ //********显示zidonghua年月日***********// write_com(0x01); write_com(0x80); prints("welcome!") ; for(i=0;i<4;i++) { write_com(0x1c); delayl(1000); } delayl(2000); for(i=0;i<16;i++) ledrs=0; ledrw=0; write_com(0x40);//将自定义字符写入CGRAM for(i=0;i<24;i++)//循环24次写入 { write_data(CGCODE[i]); } write_com(0x80+0x40);//写入初始地址 for(i=0;i<10;i++) { write_data(tab[i]); } delayl(2500); //****************工作部分****************// write_com(0x01); kaitong=0; while(1) { dd++; if(dd>20) dd=1; if(dd<=cc) kaitong=0; else kaitong=1; //**************工作屏幕一行显示部分*****************// setPosition(1,0); i=readtemp(); /*p++; if(p==5) {adjust(i);p=0;}*/ IntToStr(i,buffer,3); prints("P:"); printc(buffer[0]); printc(buffer[1]); printc('.'); printc(buffer[2]); printc(0xDF); printc('C'); //**************最高温度设定*****************// /*setPosition(1,9); prints("H:"); IntToStr(temp_e2,buffer,3); if(i>=temp_e2&&i!=850) { temp_e2=i; printc(buffer[0]);