最终版程序-单片机代码PID调节.zip_STC89C52RC_电机PID_电机转速PID_霍尔检测

#include "reg52.h" #include "string.h" #include "stdio.h" #include <stdlib.h> #define uchar unsigned char #define uint unsigned int sbit motor=P2^6; uint Hrspeed; //速度标志 uchar cycount; //速度采样值 uint count1,count2; //外部中断中的数 uint count; //定时器中的数 unsigned char PWM;//目标值 long int PointPwm; float Pvalue=7,Ivalue=0.1,Dvalue=0.7;///6.5 static data ErrorNum=0.0,en=0.0,en1=0.0,en2=0.0; unsigned char PointSpeed=0; unsigned char idata Txbuff[10]; unsigned char spdflag;//速度命令标志 unsigned char Rxbuff[10],Rxcount;//接收加减速命令 unsigned char idata PIDdata[20],PIDcount,getok;//接收PID参数值 unsigned char spdflag,pidflag;//速度与PID参数接收标志 unsigned char Pdata[5],Idata[5],Ddata[5]; float now = 0,bef = 0,bbef = 0; //本次采样值，上次采样值，上上次采样值 float err_now,err_bef,err_bbef; //当前偏差，上次偏差，上上次偏差 float error_add = 0; //所有偏差之和 unsigned char timerok; void delay(uchar x); void delay(uchar x) { uint y; for(;x>0;x--) { for(y=100;y>0;y--) {}; } } /************************外部中断初始化***************************/ void Exti0_Init(void) //外部中断0初始化 { EA=1; EX0=1; IT0=1; } void Timer0_Init(void) //定时器0初始化 { TMOD|=0X01; TH0=(65536-50000)/256; TL0=(65536-50000)%256; ET0=1; TR0=1;//启动定时器1 } void InitTimer1(void) { TMOD|= 0x10; TH1 = 0x0FE; TL1 = 0x0C; EA = 1; ET1 = 1; TR1 = 1; } /**********************串口初始化***********************/ void InitUART(void) { PCON &= 0x7F; //波特率不倍速 SMOD=0 SCON = 0x50; //方式1,8位数据,可变波特率,接收允许 T2CON = 0x34; RCAP2H = 0xFF; RCAP2L = 0xDC; TH2 = 0xFF; TL2 = 0xDC; EA=1; //总中断打开,采用查询法时不用打开中断 ES = 1; //串口中断开关,采用查询法时不用打开中断 } /* * UART 发送一字节 */ void UART_send_byte(char dat) { SBUF = dat; while (TI == 0); TI = 0; } /* * UART 发送字符串 */ void UART_send_string(unsigned char *buf) { while (*buf != '\0') { UART_send_byte(*buf++); } } int PID_ADD(int setpoint,int achieved) //增量式PID { long int result,TempResult; int change; err_now = setpoint - achieved; err_bef = setpoint - bef; err_bbef = setpoint - bbef; change = Pvalue*(err_now) + Ivalue*err_now + Dvalue*(err_now - 2*err_bef + err_bbef); TempResult=(long int)(change/20); result=TempResult; return(TempResult); } //**********PID算法****** long int PID(int setpoint,int achieved) { long int result,TempResult; en=setpoint-achieved; ErrorNum=Pvalue*en;-Ivalue*(en-en1)+Dvalue*(en1-en2); TempResult=(long int)(ErrorNum/20); result=TempResult; en2=en1; en1=en; return result; } void speed_change(void) { if(Rxcount>=2) { if(Rxbuff[0]=='S')//速度交替指令 { if(Rxbuff[1]=='1')//代表加速 { PointSpeed+=10;// if(PointSpeed>60) PointSpeed=60; Rxbuff[0]=0;Rxbuff[1]=0; } if(Rxbuff[1]=='0')//代表减速 { PointSpeed-=10;// if(PointSpeed<=10) PointSpeed=10; Rxbuff[0]=0;Rxbuff[1]=0; } if(Rxbuff[1]=='8')//代表停止 { PointSpeed=0;// Rxbuff[0]=0;Rxbuff[1]=0; } } Rxcount=0; spdflag=0; } } void PID_change(void) { unsigned char i,j; if(PIDdata[PIDcount]=='D')//获取到最后一位 { for(i=0;i<PIDcount;i++) { if(PIDdata[i]=='P') { j=i; break; } Pdata[i]=PIDdata[i+1];//去掉首字母C } Pdata[4]=0; for(i=j;i<PIDcount;i++) { if(PIDdata[i]=='I') { j=i; break; } Idata[i-j]=PIDdata[i+1];//去掉首字母P } Idata[4]=0; for(i=j;i<PIDcount;i++) { if(PIDdata[i]=='D') break; Ddata[i-j]=PIDdata[i+1];//去掉首字母P } Ddata[4]=0; Pvalue=atof(Pdata); Ivalue=atof(Idata); Dvalue=atof(Ddata); pidflag=0; PIDcount=0; getok=1; } else { PIDcount++; } } void main() { Exti0_Init(); InitUART(); Timer0_Init(); InitTimer1(); delay(100); while(1) { speed_change(); if(timerok) { bbef = bef; bef = now; now = Hrspeed; timerok=0; } if(PointSpeed) { PointPwm+=PID_ADD(PointSpeed,Hrspeed); // PointPwm+=PID(PointSpeed,Hrspeed); if( PointPwm<0) PointPwm=20; if(PointPwm>255) PointPwm=250; } else PointPwm=0; Txbuff[0]='S'; Txbuff[3]=PointSpeed/10%10+0x30; Txbuff[4]=PointSpeed%10+0x30; Txbuff[5]=getok+0x30; Txbuff[6]=0; /* if(getok) { getok=0; UART_send_string(Ddata); } */ UART_send_string(Txbuff); getok=0; delay(500); } } void ex0()interrupt 0 //外部中断0 { count++; cycount++; //霍尔值 if(count==10) { count=0; count2++; //10个脉冲 ，算1m } } void timer0()interrupt 1 { TH0=(65536-50000)/256; TL0=(65536-50000)%256; count1++; if(count1==20)//时间，1s { Hrspeed=cycount; //霍尔转换出来的速度值 cycount=0;//1s清除 count1=0;//清除1s Txbuff[1]=Hrspeed/10%10+0x30; Txbuff[2]=Hrspeed%10+0x30; timerok=1; } } void Timer1Interrupt(void) interrupt 3 { PWM++; TH1 = 0x0FF; TL1 = 0x9C; if(PWM>PointPwm) motor=1; else motor=0; } void UARTInterrupt(void) interrupt 4 { if(RI) { ES=0; Rxbuff[Rxcount]=SBUF;//获取指令数据 if(Rxbuff[Rxcount]=='S')//表明获取到了速度指令 { spdflag=1; Rxcount=0; } if(spdflag) { Rxcount++; } //////////////////////////////////////////////// PIDdata[PIDcount]=SBUF;//获取PID参数值 if(PIDdata[PIDcount]=='C') { pidflag=1; PIDcount=0; } if(pidflag) PID_change(); RI = 0; ES=1; } }