温度闭环控制系统的设计和实现 程序

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文件名：ACC6-2-1.C

功能描述：实现温度闭环控制，采用位置式PID算法

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#include

#include

#include

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宏定义

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#define uchar unsigned char

#define uint unsigned int

#define ADC_0 XBYTE[0x7ff0] //定义模数转换IO地址

#define DAC_1 XBYTE[0x7ff2] //定义D/A第一路的IO地

#define DAC_2 XBYTE[0x7ff3] //定义D/A第二路的IO?

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函数声明

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void pid(void);

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全局变量定义

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sbit str = P1^7;

sbit DOUT0 = P1^4; //PWM输出

uint data time; //声明变量，用于定时

uchar data t0_h,t0_l; //用于存储定时器0的初值

char TK=100; //声明采样周期变量,//采样周期＝TK*10ms char TC=0; //TK的变量

char SPEC=50; //转速给定值

char IBAND=20; //积分分离值

float kp=6.8; //比例系数

float ti=600; //积分系数

float td=50; //微分系数

int FPWM,TKMARK; //PWM标志

int AAA1,V AA; //PWM高电平变量

int BBB,VBB; //PWM低电平变量

int ADMARK,ADV ALUE; //转速、转速计算标志和转速累加变量int YK; //电机转速值

char EK,EK_1; //当前采样的偏差值

float ZEK; //上一次采样的偏差值

char AEK,AEK_1; //偏差的变化量

int UK; //当前时刻的D/A输出

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温度电压对照表

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char code a[0x1ff]={0x14,0x14,0x14,0x14,0x14,0x14,0x14,0x14,0x14,0x14,

0x15,0x16,0x17,0x18,0x19,0x1a,0x1b,0x1c,0x1d,0x1e,0x1e,0x1f,0x20,0x21,

0x22,0x23,0x24,0x25,0x26,0x27,0x28,0x29,0x2a,0x2b,0x2c,0x2d,0x2e,0x2f,

0x31,0x32,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39,0x3a,0x3b,0x3c,0x3d,

0x3e,0x3f,0x40,0x42,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x4b,0x4c,

0x4d,0x4e,0x4f,0x50,0x4f,0x50,0x51,0x52,0x53,0x54,0x55,0x56,0x57,0x58,

0x59,0x5a,0x5b,0x5c,0x5d,0x5e,0x5f,0x60,0x61,0x62,0x63,0x64,0x64,0x65,

0x65,0x66,0x66,0x67,0x68,0x69,0x6a,0x6b,0x6c,0x6d,0x6e,0x6e,0x6f,0x6f,

0x70,0x71,0x72,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x7b,0x7c,0x7d,

0x7e,0x7f,0x80,0x81,0x82,0x83,0x84,0x84,0x85,0x86,0x87,0x88,0x89,0x8a,

0x8b,0x8c,0x8d,0x8e,0x8f,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,

0x99,0x9a,0x9b,0x9b,0x9c,0x9c,0x9d,0x9d,0x9e,0x9e,0x9f,0x9f,0xa0,0xa1,

0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xab,0xac,0xad,0xae,0xaf,

0xb0,0xb0,0xb1,0xb2,0xb3,0xb4,0xb4,0xb5,0xb6,0xb7,0xb8,0xb9,0xba,0xbb,

0xbd,0xbe,0xbe,0xc1,0xc2,0xc3,0xc4,0xc5,0xc6,0xc8,0xca,0xcc,0xce,0xcf,

0xd0,0xd1,0xd2,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,0xdb,0xdc,0xdd,0xde,

0xe3,0xe6,0xe9,0xec,0xf0,0xf2,0xf6,0xfa,0xff,0xff,0xff,0xff,0xff,0xff,

0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,

0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff};

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主函数

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void main(void)

{

TMOD = 0x01;

time = 10; //定时10ms

t0_h = (65536-1000*time)/256; //计算定时器0初值

t0_l = (65536-1000*time)%256;

t0_l = t0_l+20; //修正因初值重装而引起的定时误差

TH0 = t0_h;

TL0 = t0_l;

IT1 = 1; //边沿触发中断

EX1 = 1; //开外部中断1

ET0 = 1; //开定时中断0

TR0 = 1; //启动定时器

DAC_1= 0x80; //D/A清零

DAC_2= 0x80;

ADV ALUE=YK=EK=EK_1=AEK=ZEK=0; //变量清零

UK=TKMARK=BBB=VBB=ADMARK=TC=0;

FPWM=0x01; //变量赋初值

AAA1=V AA=0x7f;

str =0;

EA = 1; //开总中断

while(1)

{

for(;;) if(TKMARK==0x01) break; //判采样周期到否

TKMARK=0x00;

for(;;) if(ADMARK==0x01) break; //判A/D采样完成否

ADMARK=0x00;

YK=a[ADV ALUE];

pid(); //调用PID程序计算控制量

if( UK <= 128) AAA1=0x10; //如果控制量太小，赋极值，此值能使温度启动 else AAA1=UK-128;

BBB=0x7f-AAA1;

DAC_1=SPEC+128; //给定值送D/A第一路输出

DAC_2=YK+128; //转速值送D/A第二路输出

}

}

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PID算法（位置式）

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void pid(void)

{ float K,P,I,D;

EK=SPEC-YK; //计算偏差

AEK=EK-EK_1; /*△EK*/

if ( (abs(EK)>IBAND) || ti==0) I=0;//判积分分离值

else

{

ZEK=ZEK+EK; //计算积分项

if(ZEK>127) ZEK=127;

if(ZEK<-128) ZEK=-128;

I=ZEK*TK;

I=I/ti;

}

P=EK; //比例项

D=td*AEK; //计算微分项

D=D/TK;

K=kp*(P+I+D); //计算比例项

if(K>127) K=127; //判控制量是否溢出，溢出赋极值

if(K<-128) K=-128;

UK = K;

EK_1=EK;

UK=UK+128;

}

/**********************************************

函数名：INT1

功能：1号外部中断服务程序

参数：无*

返回值：无*

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void int1() interrupt 2 using 2

{

ADV ALUE=ADC_0; //读取A/D转换结果，并置标志ADMARK=0x01;

}

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函数名：Timer0

功能：定时器0中断服务程序

参数：无

返回值：无

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void Timer0() interrupt 1 using 1

{

str = 1;

TH0 = t0_h; //重新装入初值

TL0 = t0_l;

if(TC

else {TKMARK=0x01;

TC=0x00;

}

if (FPWM==0x01)

if(V AA!=0x00)

{ V AA=V AA-1;

DOUT0 = 0; //P1.4清零，温度开始升高

}

else

{ FPWM=0x02;

VBB=BBB/2;

}

if(FPWM==0x02)

if(VBB!=0x00)

{ VBB=VBB-1;

DOUT0 = 1; //P1.4置一，温度开始降低

}

else

{ FPWM=0X01;

V AA=AAA1/2;

}

str = 0;

}