51 溫度PID經(jīng)典算法

#include51.h>
#include
#include
#include
structPID{
unsignedintSetPoint;//設(shè)定目標(biāo)DesiredValue
unsignedintProportion;//比例常數(shù)ProportionalConst
unsignedintIntegral;//積分常數(shù)IntegralConst
unsignedintDerivative;//微分常數(shù)DerivativeConst
unsignedintLastError;//Error[-1]
unsignedintPrevError;//Error[-2]
unsignedintSumError;//SumsofErrors
};
structPIDspid;//PIDControlStructure
unsignedintrout;//PIDResponse(Output)
unsignedintrin;//PIDFeedback(Input)
sbitdata1=P1^0;
sbitclk=P1^1;
sbitplus=P2^0;
sbitsubs=P2^1;
sbitstop=P2^2;
sbitoutput=P3^4;
sbitDQ=P3^3;
unsignedcharflag,flag_1=0;
unsignedcharhigh_time,low_time,count=0;//占空比調(diào)節(jié)參數(shù)
unsignedcharset_temper=35;
unsignedchartemper;
unsignedchari;
unsignedcharj=0;
unsignedints;
/***********************************************************
延時(shí)子程序,延時(shí)時(shí)間以12M晶振為準(zhǔn),延時(shí)時(shí)間為30us×time
***********************************************************/
voiddelay(unsignedchartime)
{
unsignedcharm,n;
for(n=0;n for(m=0;m<2;m++){}
}
/***********************************************************
寫(xiě)一位數(shù)據(jù)子程序
***********************************************************/
voidwrite_bit(unsignedcharbitval)
{
EA=0;
DQ=0;/*拉低DQ以開(kāi)始一個(gè)寫(xiě)時(shí)序*/
if(bitval==1)
{
_nop_();
DQ=1;/*如要寫(xiě)1，則將總線置高*/
}
delay(5);/*延時(shí)90us供DA18B20采樣*/
DQ=1;/*釋放DQ總線*/
_nop_();
_nop_();
EA=1;
}
/***********************************************************
寫(xiě)一字節(jié)數(shù)據(jù)子程序
***********************************************************/
voidwrite_byte(unsignedcharval)
{
unsignedchari;
unsignedchartemp;
EA=0;
TR0=0;
for(i=0;i<8;i++)/*寫(xiě)一字節(jié)數(shù)據(jù)，一次寫(xiě)一位*/
{
temp=val>>i;/*移位操作，將本次要寫(xiě)的位移到最低位*/
temp=temp&1;
write_bit(temp);/*向總線寫(xiě)該位*/
}
delay(7);/*延時(shí)120us后*/
//TR0=1;
EA=1;
}
/***********************************************************
讀一位數(shù)據(jù)子程序
***********************************************************/
unsignedcharread_bit()
{
unsignedchari,value_bit;
EA=0;
DQ=0;/*拉低DQ，開(kāi)始讀時(shí)序*/
_nop_();
_nop_();
DQ=1;/*釋放總線*/
for(i=0;i<2;i++){}
value_bit=DQ;
EA=1;
return(value_bit);
}
/***********************************************************
讀一字節(jié)數(shù)據(jù)子程序
***********************************************************/
unsignedcharread_byte()
{
unsignedchari,value=0;
EA=0;
for(i=0;i<8;i++)
{
if(read_bit())/*讀一字節(jié)數(shù)據(jù)，一個(gè)時(shí)序中讀一次，并作移位處理*/
value|=0x01<delay(4);/*延時(shí)80us以完成此次都時(shí)序，之后再讀下一數(shù)據(jù)*/
}
EA=1;
return(value);
}
/***********************************************************
復(fù)位子程序
***********************************************************/
unsignedcharreset()
{
unsignedcharpresence;
EA=0;
DQ=0;/*拉低DQ總線開(kāi)始復(fù)位*/
delay(30);/*保持低電平480us*/
DQ=1;/*釋放總線*/
delay(3);
presence=DQ;/*獲取應(yīng)答信號(hào)*/
delay(28);/*延時(shí)以完成整個(gè)時(shí)序*/
EA=1;
return(presence);/*返回應(yīng)答信號(hào)，有芯片應(yīng)答返回0,無(wú)芯片則返回1*/
}
/***********************************************************
獲取溫度子程序
***********************************************************/
voidget_temper()
{
unsignedchari,j;
do
{
i=reset();/*復(fù)位*/
}while(i!=0);/*1為無(wú)反饋信號(hào)*/
i=0xcc;/*發(fā)送設(shè)備定位命令*/
write_byte(i);
i=0x44;/*發(fā)送開(kāi)始轉(zhuǎn)換命令*/
write_byte(i);
delay(180);/*延時(shí)*/
do
{
i=reset();/*復(fù)位*/
}while(i!=0);
i=0xcc;/*設(shè)備定位*/
write_byte(i);
i=0xbe;/*讀出緩沖區(qū)內(nèi)容*/
write_byte(i);
j=read_byte();
i=read_byte();
i=(i<<4)&0x7f;
s=(unsignedint)(j&0x0f); //得到小數(shù)部分
s=(s*100)/16;
j=j>>4;
temper=i|j;/*獲取的溫度放在temper中*/
}
/*====================================================================================================
InitializePIDStructure
=====================================================================================================*/
voidPIDInit(structPID*pp)
{
memset(pp,0,sizeof(structPID)); //全部初始化為0
}
/*====================================================================================================
PID計(jì)算部分
=====================================================================================================*/
unsignedintPIDCalc(structPID*pp,unsignedintNextPoint)
{
unsignedintdError,Error;
Error=pp->SetPoint-NextPoint;//偏差
pp->SumError+=Error;//積分
dError=pp->LastError-pp->PrevError;//當(dāng)前微分
pp->PrevError=pp->LastError;
pp->LastError=Error;
return(pp->Proportion*Error//比例項(xiàng)
+pp->Integral*pp->SumError//積分項(xiàng)
+pp->Derivative*dError);//微分項(xiàng)
}
/***********************************************************
溫度比較處理子程序
***********************************************************/
voidcompare_temper()
{
unsignedchari;
if(set_temper>temper)//是否設(shè)置的溫度大于實(shí)際溫度
{
if(set_temper-temper>1) //設(shè)置的溫度比實(shí)際的溫度是否是大于1度
{
high_time=100; //如果是，則全速加熱
low_time=0;
}
else //如果是在1度范圍內(nèi)，則運(yùn)行PID計(jì)算
{
for(i=0;i<10;i++)
{
get_temper(); //獲取溫度
rin=s;//ReadInput
rout=PIDCalc(&spid,rin);//PerformPIDInteration
}
if(high_time<=100)
high_time=(unsignedchar)(rout/800);
else
high_time=100;
low_time=(100-high_time);
}
}
elseif(set_temper<=temper)
{
if(temper-set_temper>0)
{
high_time=0;
low_time=100;
}
else
{
for(i=0;i<10;i++)
{
get_temper();
rin=s;//ReadInput
rout=PIDCalc(&spid,rin);//PerformPIDInteration
}
if(high_time<100)
high_time=(unsignedchar)(rout/10000);
else
high_time=0;
low_time=(100-high_time);
}
}
//else
//{}
}
/*****************************************************
T0中斷服務(wù)子程序，用于控制電平的翻轉(zhuǎn),40us*100=4ms周期
******************************************************/
voidserve_T0()interrupt1using1
{
if(++count<=(high_time))
output=1;
elseif(count<=100)
{
output=0;
}
else
count=0;
TH0=0x2f;
TL0=0xe0;
}
/*****************************************************
串行口中斷服務(wù)程序，用于上位機(jī)通訊
******************************************************/
voidserve_sio()interrupt4using2
{
/*EA=0;
RI=0;
i=SBUF;
if(i==2)
{
while(RI==0){}
RI=0;
set_temper=SBUF;
SBUF=0x02;
while(TI==0){}
TI=0;
}
elseif(i==3)
{
TI=0;
SBUF=temper;
while(TI==0){}
TI=0;
}
EA=1;*/
}
voiddisp_1(unsignedchardisp_num1[6])
{
unsignedcharn,a,m;
for(n=0;n<6;n++)
{
//k=disp_num1[n];
for(a=0;a<8;a++)
{
clk=0;
m=(disp_num1[n]&1);
disp_num1[n]=disp_num1[n]>>1;
if(m==1)
data1=1;
else
data1=0;
_nop_();
clk=1;
_nop_();
}
}
}
/*****************************************************
顯示子程序
功能：將占空比溫度轉(zhuǎn)化為單個(gè)字符，顯示占空比和測(cè)得到的溫度
******************************************************/
voiddisplay()
{
unsignedcharcodenumber[]={0xfc,0x60,0xda,0xf2,0x66,0xb6,0xbe,0xe0,0xfe,0xf6};
unsignedchardisp_num[6];
unsignedintk,k1;
k=high_time;
k=k%1000;
k1=k/100;
if(k1==0)
disp_num[0]=0;
else
disp_num[0]=0x60;
k=k%100;
disp_num[1]=number[k/10];
disp_num[2]=number[k%10];
k=temper;
k=k%100;
disp_num[3]=number[k/10];
disp_num[4]=number[k%10]+1;
disp_num[5]=number[s/10];
disp_1(disp_num);
}
/***********************************************************
主程序
***********************************************************/
voidmain()
{
unsignedcharz;
unsignedchara,b,flag_2=1,count1=0;
unsignedcharphil[]={2,0xce,0x6e,0x60,0x1c,2};
TMOD=0x21;
TH0=0x2f;
TL0=0x40;
SCON=0x50;
PCON=0x00;
TH1=0xfd;
TL1=0xfd;
PS=1;
EA=1;
EX1=0;
ET0=1;
ES=1;
TR0=1;
TR1=1;
high_time=50;
low_time=50;
PIDInit(&spid);//InitializeStructure
spid.Proportion=10;//SetPIDCoefficients比例常數(shù)ProportionalConst
spid.Integral=8;//積分常數(shù)IntegralConst
spid.Derivative=6;//微分常數(shù)DerivativeConst
spid.SetPoint=100;//SetPIDSetpoint設(shè)定目標(biāo)DesiredValue
while(1)
{
if(plus==0)
{
EA=0;
for(a=0;a<5;a++)
for(b=0;b<102;b++){}
if(plus==0)
{
set_temper++;
flag=0;
}
}
elseif(subs==0)
{
for(a=0;a<5;a++)
for(b=0;a<102;b++){}
if(subs==0)
{
set_temper--;
flag=0;
}
}
elseif(stop==0)
{
for(a=0;a<5;a++)
for(b=0;b<102;b++){}
if(stop==0)
{
flag=0;
break;
}
EA=1;
}
get_temper();
b=temper;
if(flag_2==1)
a=b;
if((abs(a-b))>5)
temper=a;
else
temper=b;
a=temper;
flag_2=0;
if(++count1>30)
{
display();
count1=0;
}
compare_temper();
}
TR0=0;
z=1;
while(1)
{
EA=0;
if(stop==0)
{
for(a=0;a<5;a++)
for(b=0;b<102;b++){}
if(stop==0)
disp_1(phil);
//break;
}
EA=1;
}
}