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#include <mega16.h>
#include<math.h>
#include<delay.h>
#include "lcdbn.h"
uchar data1[4]={0,2,5,0};
uchar data2[4]={0,0,0,0};
uchar j,key=0;
uchar chr[]="pre: *2%";
uchar *chr1[3]={"openc V: ",
"shutc V: ",
"acceler: "} ;
uchar counter1=0x84;
uchar counter2=0xc8;
uchar flag; //flag为开闭使能
int E1r;
int E2r=0,E3r=0;
uint speedr=15,c_r=0;//maxc=700;
void init_intr(void)
{
SREG=0x80;
TIMSK=0x40;
TCCR2=0x06;
TCCR1A=0xe3; //A比较高电平，B比较低电平
TCCR1B=0x0a;
MCUCR=0x0a; ///外部INT1/0中断上升有效
GICR=0xc0;
}
////////////////////////////////////
/////左右电机pwm设置
///////////////////////////////////
void setpwmr(uchar *p)
{ uint temp1;
temp1=(uint)p[1]*10+p[2];
if(temp1<25)
{
speedr=(uint)28-temp1*28/25;
}
else
{
speedr=(uint)temp1*28/25-28;
}
temp1=1023*temp1/50;
OCR1A=temp1;
OCR1B=temp1;
}
/////转速加/减调速//////
void add(uchar*p)
{
if(p[1]!=5)
{
p[2]++;
if(p[2]==10)
{
p[2]=0;p[1]++;
}
}
}
void sub(uchar *p)
{
uchar temp;
temp=p[1]*20+p[2]*2;
if(temp!=0)
temp=temp-2;
p[1]=temp/20; //设定值还原//
p[2]=(temp-p[1]*20)/2;
}
void display()
{ write_string(0x80,chr);
write_string(0xc0,chr1[key]);
write_order(counter1+0);
write_Data(data1[0]+0x30);
for(j=1;j<3;j++)
{write_order(counter1+j);
write_Data(data1[j]+0x30);
}
for(j=0;j<4;j++)
{
write_order(counter2+j);
write_Data(data2[j]+0x30);
}
}
//////速度调节////
void speed_change(void)
{
if(PINA.1==0)
{
delay_ms(100);
if(PINA.1==0)
{add(data1); }
}
if(PINA.2==0)
{delay_ms(100);
if(PINA.2==0)
{sub(data1);}
}
}
/////键盘读取////
void testkey(void)
{
uchar flag2=0;
if(PINA!=0x0f)
{ delay_ms(10);
if(PINA!=0x0f)
{flag2=1;}
}
if(flag2)
{
while(PINA.3!=0)
{
while(PINA.0==0)
{ delay_ms(100);
if(PINA.0==0)
{
if(key<2)
{key++;}
else
key=0;}
}
switch (key)
{case 0: //模式1PID调节
flag=0;
speed_change();
setpwmr(data1);
display();
break;
case 1: //模式2开环
flag=1;
speed_change();
setpwmr(data1);
init_intr();
display();
break;
case 2:
display();
break;
default:break; }
}
flag2=0;
}
}
/* void speed_convert(uint c) //测速转化成pwm值
{
}*/
void new_pid(uint cl,uchar k) //积分分离法
{ int temp3,z,p; //p为积分系数误差越大P越小
if(flag)
{ E1r=speedr-cl;
if(speedr>0&abs(E1r)<11)
{
switch(abs(E1r)/2)
{
case 5: p=1;
break;
case 4: p=3;
break;
case 3: p=5;
break;
case 2: p=8;
break;
case 1: p=10;
break;
default :
break;
}
z=23*(E1r-E2r)+p*(E1r-2*E2r+E3r)-10*E3r;
z=(int)z*102/k;
temp3=OCR1A;
temp3=temp3+z;
OCR1A=temp3;
OCR1B=temp3;
E3r=E2r;
E2r=E1r;
}
}
}
/*void pid_motr(uint cr,uchar k)
{
int temp,u;
if(flag)
{
if(speedr>0)
{
E1r=speedr-cr;
if(E1r==speedr) //E误差很大时最大额定电流加速
{ OCR1A=maxc;
OCR1B=maxc; }
else if(abs(E1r)>0&&abs(E1r)<7)
{
u=(int)(24*E1r-35*E2r+14*E3r)*102/k;
temp=OCR1A;
temp=temp+u;
OCR1A=temp;
OCR1B=temp;
E3r=E2r;
E2r=E1r;
}
}
}
} */
////////速度数据分解///////
void speed_count(uint r)
{
data2[3]=r%10;
r=r/10;
data2[2]=r%10;
r=r/10;
data2[1]=r%10;
r=r/10;
data2[0]=r%10;
}
/////采用外部中断测速//////////
interrupt[EXT_INT0]void int_0(void)
{ c_r++;
}
/////T2定时80ms对速度采样////////
interrupt[TIM2_OVF]void time_2(void)
{
MCUCR=0x00;
GICR=0x00;
new_pid(c_r,500) ;
//pid_motr(c_r,100);
speed_count(c_r) ;
MCUCR=0x0f; ///外部INT1/0中断上升有效
GICR=0xc0;
c_r=0;
}
void initall_IO(void)
{
DDRB=0xf0;
PORTB=0x00;
DDRA=0xF0;
PORTA=0x0F;
DDRC=0XFF;
PORTC=0X00;
DDRD=0xF0;
PORTD=0x0F;
}
void main(void)
{
initall_IO();
init_lcd();
while(1)
{
DDRA=0xF0;
PORTA=0x0F;
testkey();
init_intr();
display();
}
}
PID算法公式有点错:应改为
z=100*(E1r-E2r)+p*E1r+125*(E1r-2*E2r+E3r);
经过老师的指导:速度采样用M法不适应低,所以对于调速范围大的就用M/T法,适合于高低测速!对测速还要加以数字滤波!可用一阶惯性/中值法,平均法等! |
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发表于 2007-11-13 17:27:45
楼主
