基于51单片机的PID直流电机、PID无刷直流电机精准位置控制系统(源代码+仿真工程)

/* * Title: Servo Controller for DC Motors * Author: Osama Mazhar * Date: 28th December 2013 * Email: osamazhar@yahoo.com */ #include <reg51.h> #define KEYPAD P1 #define ldata P0 sbit rs = P3^5; sbit rw = P3^6; sbit en = P3^7; sbit busy = P0^7; sbit Clock = P3^0; sbit Status = P3^1; void lcdready(); void lcdcmd(unsigned char); void lcddata(unsigned char); void MSDelay(unsigned int); unsigned char KeypadRead(); unsigned int GetInput(); void inttoLCD(unsigned int); unsigned char code keypad[4][4] = {'7','8','9','/','4','5','6','X','1','2','3','-','.','0','=','+'}; unsigned int cnt; void Encoderpulse() interrupt 0 { cnt++; } void main() { unsigned int actual_position, previous_error; unsigned char dt; float Ki, Kp, I, Prop, D, Kd, error, setpoint, PWM; Status = 0; KEYPAD = 0xF0; // make higher bits of keypad port that is column bits input and low row bits outputs P2 = 0x00; Clock = 0; lcdcmd(0x38); // 2 lines and 5X7 matrix lcdcmd(0x0C); // Display ON, Cursor Blinking = 0x0E But this command is Display ON, Cursor OFF lcdcmd(0x01); // Clear Display Screen lcdcmd(0x80); // Force Cursor to the beginning of the First Line lcdcmd(0x06); IE = 0x81; TCON = 0x01; setpoint = GetInput(); I = 0; dt = 5; Ki = 0.00001; Kp = 5; Kd = 1; error = 0; while(1) //2 MC { actual_position = cnt; previous_error = error; error = setpoint - actual_position; /**********Propotional Controller*************/ Prop = Kp * ((error * 255) / setpoint); //this error value is actually whats determining how much PWM should the controller generate. //this is being divided by variable "setpoint" and multiplied by 255 inorder to scale the max //PWM to 255. As the other controller generating PWM works on the range of 0-255 for PWM. //For faster response increase Kp and for smaller use smaller Kp if(Prop > 255) Prop = 255; // For max speed, when Kp is increase and fast response is required, max PWM is set until the // error value becomes so small that it forces Prop/PWM to be less than 255 following actual PID graph. else if(Prop < 1) goto Stop; // this prevents Prop to become negative as Prop is a float variable, this will ultimately forces // controller to an undetermined condition. So this is the solution :p /***************Integral Controller**************/ MSDelay(dt); I = I + Ki * error * dt; /**********Differential Controller*************/ D = Kd * (error - previous_error) / dt; lcdcmd(0xC0); // for development purposes inttoLCD(PWM); // same inttoLCD(cnt); // same PWM = Prop + I + D; if(PWM > 255) PWM = 255; P2 = PWM; // transfering the value of PWM to other controller } // stop routine when the target value is achieved by the Propotional Controller // this routine may change when Integral and Derivative controllers will be implemented. Stop: lcdcmd(0xC0); Prop = 0; inttoLCD(Prop); P2 = 0; while(1); } // main braces unsigned int GetInput() { unsigned char L, cnt, Key[5]; unsigned int Entry = 0; cnt = 0; do { Re: Key[cnt] = KeypadRead(); L = Key[cnt]; if(L == '+' | L == '-') // my beloved sryinge pump routine to re-enter data if mistakenly entered wrong goto Re; if(L == '=') continue; lcddata(Key[cnt]); Key[cnt] = Key[cnt] - 48; cnt++; } while(L != '=' & cnt != 5); switch(cnt) { case(1): { Entry = Key[0]; break; } case(2): { Entry = (Key[0] * 10) + Key[1]; break; } case(3): { Entry = (Key[0] * 100) + (Key[1] * 10) + Key[2]; break; } case(4): { Entry = (Key[0] * 1000) + (Key[1] * 100) + (Key[2] * 10) + Key[3]; break; } case(5): { Entry = (Key[0] * 10000) + (Key[1] * 1000) + (Key[2] * 100) + (Key[3] * 10) + Key[4]; break; } } return Entry; } void inttoLCD(unsigned int value) { unsigned int x, y, z, d[5]; char l; x = value / 10; // => 6553 d[0] = (value % 10) + 48; // => 6 (LSD) * d[1] = (x % 10) + 48; // => 3 * y = x / 10; // => 655 d[2] = (y % 10) + 48; // => 5 * z = y / 10; // => 65 d[3] = (z % 10) + 48; // => 5 * d[4] = (z / 10) + 48; // => 6 (MSD) * if(d[4] == 48 & d[3] == 48 & d[2] == 48 & d[1] == 48) { lcddata(d[0]); for(l=0; l<4; l++) lcddata(' '); } if(d[4] == 48 & d[3] == 48 & d[2] == 48 & d[1] != 48) { for(l=1; l>=0; l--) lcddata(d[l]); for(l=0; l<3; l++) lcddata(' '); } if(d[4] == 48 & d[3] == 48 & d[2] != 48) { for(l=2; l>=0; l--) lcddata(d[l]); for(l=0; l<2; l++) lcddata(' '); } if(d[4] == 48 & d[3] != 48) { for(l=3; l>=0; l--) lcddata(d[l]); lcddata(' '); } if(d[4] != 48) { for(l=4; l>=0; l--) lcddata(d[l]); } } void MSDelay(unsigned int count) { unsigned int i; while(count) { i = 122; while(i>0) i--; count--; } } void lcdready() { busy = 1; // make the busy pin an input rs = 0; rw = 1; while(busy == 1) // wait here for busy flag { en = 0; // strobe the enable pin MSDelay(1); en = 1; } return; } void lcdcmd(unsigned char value) { lcdready(); ldata = value; rs = 0; rw = 0; en = 1; MSDelay(1); en = 0; return; } void lcddata(unsigned char value) { lcdready(); ldata = value; rs = 1; rw = 0; en = 1; MSDelay(1); en = 0; return; } unsigned char KeypadRead() { unsigned char colloc, rowloc; do { KEYPAD = 0xF0; // ground all rows at once colloc = KEYPAD; // read the port for columns colloc &= 0xF0; // mask row bits } while(colloc != 0xF0); // check until all keys are released do { do { MSDelay(8); // call delay colloc = KEYPAD; // see if any key is pressed colloc &= 0xF0; // mask unsused bits } while(colloc == 0xF0); // keep checking for keypress MSDelay(8); // call delay for debounce colloc = KEYPAD; // read columns colloc &= 0xF0; // mask unused bits } while(colloc == 0xF0); // wait for keypress while(1) { KEYPAD &= 0xF0; // masking row bits KEYPAD |= 0x0E; // now ground row 0 0E = 00001110b ORing won't affect column data colloc = KEYPAD; // read columns colloc &= 0xF0; // mask row bits if(colloc != 0xF0) // column detected { rowloc = 0; // save row location break; } KEYPAD &= 0xF0; KEYPAD |= 0x0D; // ground row 1 0D = 00001101b ORing won't affect column data colloc = KEYPAD; // read columns colloc &= 0xF0; // mask row bits if(colloc != 0xF0) // column detected { rowloc = 1; // save row location break; } KEYPAD &= 0XF0; KEYPAD |= 0x0B; // ground row 2 0B = 00001011b colloc = KEYPAD; // read columns colloc &= 0xF0; // mask row bits if(colloc != 0xF0) // column detected { rowloc = 2; // save row location break; } KEYPAD &= 0XF0; KEYPAD |= 0x07; // ground row 3 07 = 00000111b colloc = KEYPAD; // read columns colloc &= 0xF0; // mask row bits if(colloc != 0xF0) // column detected rowloc = 3; // save row location break; } // check columns and send result to LCD if(colloc == 0xE0) //0E = 00001110 return keypad[rowloc][0]; else if(colloc == 0xD0) //0D = 00001101 return keypad[rowloc][1]; else if(colloc == 0xB0) //0B = 00001011 return keypad[rowloc][2]; else return keypad[rowloc][3]; }