pci9112.rar_pci 9112 labview_pci91_pci9112_模糊pid c程序

#include <cvirte.h> #include <userint.h> #include "dianji.h" #include "dask.h" unsigned short date; double out; double biaozhun; int zhuangtai; int a,b; int cardID; int start=0; unsigned short u; double position; int oe; //上一次偏差 int ec; //偏差的变化 int e; //偏差 //int piderror[10000]; double piderror1=0; double piderror2=0; double segmaerror=0; int i; int j; double A=0; double KP, KI,KD; //double TI,TD; double T=0.001; //T为定时器间隔 //int b; double show[2]; int matrix[14][13]={ {7,6,7,6,7,7,7,4,4,2,0,0,0}, {6,6,6,6,6,6,6,4,4,2,0,0,0}, {7,6,7,6,7,7,7,4,4,2,0,0,0}, {7,6,6,6,6,6,6,3,2,0,-1,-1,-1}, {4,4,4,5,4,4,4,1,0,0,-1,-1,-1}, {4,4,4,5,4,4,1,0,0,0,-3,-2,-1}, {4,4,4,5,1,1,0,-1,-1,-1,-4,-4,-4}, {4,4,4,5,1,1,0,-1,-1,-1,-4,-4,-4}, {2,2,2,2,0,0,-1,-4,-4,-3,-4,-4,-4}, {1,2,1,2,0,-3,-4,-4,-4,-3,-4,-4,-4}, {0,0,0,0,-3,-3,-6,-6,-6,-6,-6,-6,-6}, {0,0,0,-2,-4,-4,-7,-7,-7,-6,-7,-6,-7}, {0,0,0,-2,-4,-4,-6,-6,-6,-6,-6,-6,-6}, {0,0,0,-2,-4,-4,-7,-7,-7,-6,-7,-6,-7} }; double temp=0; double fuzzy[7]={6.00,3.00,1.0,0.5,0.1,0.05,0.01}; static int panelHandle; int main (int argc, char *argv[]) { if (InitCVIRTE (0, argv, 0) == 0) return -1; /* out of memory */ if ((panelHandle = LoadPanel (0, "dianji.uir", PANEL)) < 0) return -1; DisplayPanel (panelHandle); RunUserInterface (); DiscardPanel (panelHandle); return 0; } int CVICALLBACK callbackstart (int panel, int control, int event, void *callbackData, int eventData1, int eventData2) { switch (event) { case EVENT_COMMIT: // if(cardID>=0) // { // Release_Card(cardID); // } cardID=Register_Card(PCI_9112,0); if(cardID<0) { MessagePopup("warning","startfail"); } AI_ReadChannel(cardID,0,AD_U_5_V,&date); //读AD转换结果 date=(date>>4)&0x0fff; out=date*16/4096; SetCtrlVal(panelHandle,PANEL_NUMERICSLIDE,out); //令游标NUMERICSLIDE显示测量值 AO_WriteChannel(cardID,0,2048); //DA转换 start=1; zhuangtai=4; break; } return 0; } int CVICALLBACK callbackstop (int panel, int control, int event, void *callbackData, int eventData1, int eventData2) { switch (event) { case EVENT_COMMIT: zhuangtai=4; //start=0; AO_WriteChannel(cardID,0,2048); break; } return 0; } int CVICALLBACK callbackquit (int panel, int control, int event, void *callbackData, int eventData1, int eventData2) { switch (event) { case EVENT_COMMIT: AO_WriteChannel(cardID,0,2048); if(cardID>=0) { Release_Card(cardID); } QuitUserInterface (0); break; } return 0; } int CVICALLBACK callbacktimer (int panel, int control, int event, void *callbackData, int eventData1, int eventData2) { switch (event) { case EVENT_TIMER_TICK: if(cardID<0) { } else { AI_ReadChannel(cardID,0,AD_U_5_V,&date); //读当前游标位置 date=(date>>4)&0x0fff; out=(double)date*16.0/4096.0; SetCtrlVal(panelHandle,PANEL_NUMERICSLIDE,out); //输出当前游标位置out if(start==1) {if(zhuangtai!=4) // PlotStripChartPoint(panelHandle,PANEL_STRIPCHART,out); show[0]=out; show[1]=biaozhun; PlotStripChart (panelHandle, PANEL_STRIPCHART, show, 2, 0, 0, VAL_DOUBLE); if(zhuangtai==0) //PID控制 { GetCtrlVal(panelHandle,PANEL_NUMERIC,&KP); GetCtrlVal(panelHandle,PANEL_NUMERIC_2,&KI); GetCtrlVal(panelHandle,PANEL_NUMERIC_3,&KD); // KI=KP*T/TI;KD=KP*TD/T; //T取多少？？？ piderror2=-1.0*(biaozhun-out); segmaerror+=piderror2; position=-1.0*(KP*piderror2+KI*segmaerror+KD*(piderror2-piderror1))*2048.0/16.0+2048.0; if(position>4095) position=4095.0; if(position<0) position=0.0; piderror1=piderror2; AO_WriteChannel(cardID,0,(unsigned short)position); // SetCtrlVal(panelHandle,PANEL_NUMERIC,position); } else if(zhuangtai==1) //模糊控制 { temp=out-biaozhun; if(temp>=fuzzy[0]) e=7; else if (temp<=(-1*fuzzy[0])) e=-7; else if (temp>=fuzzy[1]) e=6; else if (temp<=(-1*fuzzy[1])) e=-6; else if (temp>=fuzzy[2]) e=5; else if (temp<(-1*fuzzy[2])) e=-5; else if (temp>=fuzzy[3]) e=4; else if (temp<=(-1*fuzzy[3])) e=-4; else if (temp>=fuzzy[4]) e=3; else if (temp<=(-1*fuzzy[4])) e=-3; else if (temp>=fuzzy[5]) e=2; else if (temp<=(-1*fuzzy[5])) e=-2; else if (temp>=fuzzy[6]) e=1; else if (temp<=(-1*fuzzy[6])) e=-1; if((e-oe)>6) ec=6; else if((e-oe)<-6) ec=-6; else ec=e-oe; oe=e; if (e>0) e=e-1; i=e+7;j=ec+6; u=2048/7*matrix[i][j]+2048; AO_WriteChannel(cardID,0,u); } else if(zhuangtai==2) {AO_WriteChannel(cardID,0,0); //左移 if(out<=0) AO_WriteChannel(cardID,0,3000); } else if(zhuangtai==3) {AO_WriteChannel(cardID,0,4095); //右移 if(out>=16) AO_WriteChannel(cardID,0,0); } else if(zhuangtai==4) AO_WriteChannel(cardID,0,2048); } else AO_WriteChannel(cardID,0,2048); } break; } return 0; } int CVICALLBACK callbacktypeselect (int panel, int control, int event, void *callbackData, int eventData1, int eventData2) { switch (event) { case EVENT_COMMIT: GetCtrlIndex(panelHandle,PANEL_RING,&b); // 如何读下拉菜单状态 if(b==0) {zhuangtai=0;i=0;j=0;segmaerror=0;} //PID控制状态 else if(b==1) {zhuangtai=1;i=0;j=0;} //模糊控制状态 // SetCtrlVal(panelHandle,PANEL_NUMERIC,b); break; } return 0; } int CVICALLBACK chi (int panel, int control, int event, void *callbackData, int eventData1, int eventData2) { switch (event) { case EVENT_COMMIT: GetCtrlVal(panelHandle,PANEL_NUMERICSLIDE_2,&biaozhun); //从设定位移的游标上读取数据 // zhuangtai=1; break; } return 0; } int CVICALLBACK yidong (int panel, int control, int event, void *callbackData, int eventData1, int eventData2) { switch (event) { case EVENT_COMMIT: GetCtrlVal(panelHandle,PANEL_BINARYSWITCH,&a); //读可拨键状态 zhuangtai=2+a; break; } return 0; }