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int pid_calc(float set_temp ,float now_temp )// pid計算 set_temp 為設定的溫度 now_temp 代表實際輸入的當前溫度值 0 - 100的輸出值
{
Error = set_temp - now_temp; // 偏差
if(( Error < max_value_error ) && ( Error > (min_value_error) ))//只有在一定的溫差范圍內才pid計算
{
SumError += Error;
dError = LastError - PrevError; // 當前微分
PrevError = LastError;
LastError = Error;
temp_pid = (int)((Proportion * Error) + (Integral * SumError) + (Derivative * dError));
//temp_pid = (int)(temp_pid * 0.5) ;//輸出比例控制
}
else//只有開關作用
{
if( Error >= max_value_error )//遠大于當前溫度，加熱
{
temp_pid = 100;
//temp_pid = 80;
}
else if( Error <= (min_value_error) )//遠小于當前溫度，不加熱
{
temp_pid = 0;
}
}
if( temp_pid < 0 )
{
temp_pid = 0;
}
else if( temp_pid > 100 )
{
temp_pid = 100;
}
return temp_pid;
}
void pid_con(void)//由計算結果控制輸出
{
//適用于 pwm
//每200ms根據結果改變一次輸出電壓的值
if( pwm_con_time_flag == 1)
{
pwm_con_time_flag = 0;
//lcd_s_12864_light_1;delay_ms(10);lcd_s_12864_light_0;//test
//set_pwm_value(40 + (uchar)(pid_result * (((float)(237-40))/100.0)) );
set_pwm_value(40 + (uchar)(pid_result * 1.97) );//跟上面這句話等價
}
}
void pid_pro(void)//pid 自整定及控制輸出 ppppppppppppppppppppppppppppp
{
//每200ms獲得一次溫度
if( get_now_temp_flag == 1)//200ms秒獲得一次溫度
{
get_now_temp_flag = 0;
//lcd_s_12864_light_1;delay_ms(10);lcd_s_12864_light_0;//test
PV_value = read_max6675_temper();
}
if ( pid_tune_flag == 1 )//自整定階段完畢之后轉成pid控制
{
//自整定ok后自動轉為pid階段
//自整定失敗的情況下讓基本參數恢復默認值
if( pid_self_sec_flag == 1 )//自整定過程 0.2秒1次
{
pid_self_sec_flag = 0;
dis_tune_once_flag = 1;//0.2秒顯示1次基本信息
//lcd_s_12864_light_0;delay_ms(10);lcd_s_12864_light_1;//test
pid_self_time_sec++;
if(pid_self_time_sec > (3600*3)) // 如果總的自整定時間大于了3/5=0.6個小時，則說明整定失敗
{
pid_self_time_sec = 0;
//lcd_s_12864_light_0;delay_ms(10);lcd_s_12864_light_1;//test
LcmClear();//清屏
comm_dis_once_flag = 1;
special_dis_once_flag = 1;
pid_tune_flag = 0;//那么將自動退出自整定過程同時采用默認值進入pid階段
KC = 1.0;//臨界比例系數初始默認的值
TC = 40; //振蕩周期初始默認的值
}
if(( pid_self_first_status_flag == 1) || ( pid_self_first_status_flag == 0))//0 設定溫度低于當前溫度 //1設定溫度高于或者等于當前溫度啟動加熱
{
//lcd_s_12864_light_0;delay_ms(10);lcd_s_12864_light_1;//test
//基本on/off控制
if( SV_value >= PV_value )//啟動加熱
{
cool_ack_counter = 0;
hot_ack_counter++;
if(hot_ack_counter > 3)//連續3次都是一樣的結果說明確定 SV_value >= PV_value
{
ssr_con_1;
//pwm_con_1;//一旦pwm參與將不能通過操作io的形式控制該口線
set_pwm_value(237);//全速加熱
if(once_add_1_flag == 0)
{
once_add_1_flag = 1;
zero_across_counter++;
//lcd_s_12864_light_0;delay_ms(10);lcd_s_12864_light_1;//test
if(zero_across_counter == 3 )
{
TIME_LOW = pid_self_time_sec - 3;//此時的時間不是最低溫度對應的時間
}
}
}
}
else//當前溫度大于設定溫度停止加熱
{
//lcd_s_12864_light_0;delay_ms(10);lcd_s_12864_light_1;//test
hot_ack_counter = 0;
cool_ack_counter++;
if(cool_ack_counter > 3)
{
ssr_con_0;
set_pwm_value(40);//不加熱
if(once_add_1_flag == 1)
{
once_add_1_flag = 0;
zero_across_counter++;
if(zero_across_counter == 3 )
{
TIME_LOW = pid_self_time_sec - 3;//此時的時間不是最低溫度對應的時間
}
}
}
}
//最低溫度出現在 zero_across_counter = 3 的階段
//最高溫度出現在 zero_across_counter = 4 的階段
if((zero_across_counter == 3 ) || (zero_across_counter == 4 ))
{
pid_self_calc_buffer[k_pid_self_counter] = PV_value;
k_pid_self_counter++;
if(k_pid_self_counter > 3)//0--3 共4個元素
{
k_pid_self_counter = 0;
enable_calc_min_max_flag = 1;
}
if(enable_calc_min_max_flag == 1)//只要有4個值，就可以計算了后面來的值覆蓋了前面的值
{
//去掉最小值最大值取剩下2個值的平均值
sum_temp = 0.0; //先清0
min_temp = 1024.0;
max_temp = 0.0;
for(k_max_min = 0; k_max_min < 4; k_max_min++ )
{
if(pid_self_calc_buffer[k_max_min] <= min_temp)
{
min_temp = pid_self_calc_buffer[k_max_min];
}
if(pid_self_calc_buffer[k_max_min] >= max_temp)
{
max_temp = pid_self_calc_buffer[k_max_min];
}
sum_temp = (sum_temp + pid_self_calc_buffer[k_max_min]);
}
sum_temp = sum_temp - min_temp - max_temp ;
//pid_self_first_status_flag = 1 時最低溫度出現在3階段
//pid_self_first_status_flag = 0 時最低溫度出現在4階段
if(pid_self_first_status_flag == 1)
{
if(zero_across_counter == 3 )//最低溫度
{
aver_temp = (sum_temp/2.0);
if( aver_temp <= T_LOW )
{
T_LOW = aver_temp;
}
}
else if(zero_across_counter == 4 )//最高溫度
{
aver_temp = (sum_temp/2.0);
if( aver_temp >= T_Hight )
{
T_Hight = aver_temp;
}
}
}
else if(pid_self_first_status_flag == 0)
{
if(zero_across_counter == 4 )//最低溫度
{
aver_temp = (sum_temp/2.0);
if( aver_temp <= T_LOW )
{
T_LOW = aver_temp;
}
}
else if(zero_across_counter == 3 )//最高溫度
{
aver_temp = (sum_temp/2.0);
if( aver_temp >= T_Hight )
{
T_Hight = aver_temp;
}
}
}
}
}
else if(zero_across_counter == 5 )//4次過0 則說明出現了振蕩整定成功
{
zero_across_counter = 0;
pid_tune_flag = 0;//進入pid階段
//pid_tune_flag = 1;//test
TIME_Hight = pid_self_time_sec - 3;//此時的時間不是最高溫度對應的時間
LcmClear();//清屏
comm_dis_once_flag = 1;
special_dis_once_flag = 1;
//dis_4_line_as_null();//清除最后一行的內容
//計算 T_Hight T_LOW TIME_Hight TIME_LOW 這4個值
//根據以上4個值 KC 與 TC 的值便會計算出來
KC = 12.7/(T_Hight - T_LOW);
KC = 5.0 * KC;//因為是0.2s一次所以擴大5倍
TC = 1 * (TIME_Hight - TIME_LOW);//如果記錄了最低溫度與最高溫度對應的時間那么沿用這個公式：TC = 2 * (TIME_Hight - TIME_LOW);
}
}
//顯示具體的值測試用
//dis_pid_self_value(); //test
}
}
else if( pid_tune_flag == 0 )//pid 階段默認開機進入此階段
{
//0 算出臨界增益 KC 及振蕩周期 TC
// KC = (4*d)/(3.14*A) ---> d = 5(輸出幅值) ; A = 記錄的溫度最高值與最低值的差值的0.5倍即：(T_Hight - T_LOW)*0.5
// KC = (4*5)/(3.14*((T_Hight - T_LOW)*0.5)) = 40/3.14/(T_Hight - T_LOW) = 12.7/(T_Hight - T_LOW)
// KC = 12.7/(T_Hight - T_LOW)
// TC = 2 * (TIME_Hight - TIME_LOW) ---> 2 * ( 高點溫度對應時間 - 低點溫度對應時間 )
// TC = 2 * (TIME_Hight - TIME_LOW)
//1 算出具體的比例系數積分秒數微分秒數
//Proportion = 0.6*KC
//I_value = 0.5*TC
//D_value = 0.125*TC
//2 算出具體的比例帶積分系數微分系數
//P_value = (1/Proportion)*100
//Integral = Proportion/I_value = (0.6*KC)/(0.5*TC)
//Derivative = Proportion*D_value = (0.6*KC)*(0.125*TC)
//3顯示用的3個變量的值
//P_value = (1/Proportion)*100 百分比
//I_value = 0.5*TC 秒
//D_value = 0.125*TC 秒
//4pid計算用的3個變量的值
//Proportion = 0.6*KC
//Integral = Proportion/I_value = (0.6*KC)/(0.5*TC)
//Derivative = Proportion*D_value = (0.6*KC)*(0.125*TC)
//KC = 21.4;//test
//TC = 471;//test
if(enable_pid_sec_flag == 1)//進入pid時，0.2秒計算1次
{
enable_pid_sec_flag = 0;
//lcd_s_12864_light_0;delay_ms(10);lcd_s_12864_light_1;//test
if(KC > 1666.0 )
{
KC = 1666.0;//對應比例帶為 0.1%
}
else if(KC < 0.5 )
{
KC = 0.5;//對應比例帶為 200.0%
}
if(TC > 7200 )
{
TC = 7200;
}
else if(TC < 8 )
{
TC = 8;
}
Proportion = 0.6*KC;//先算比例系數
P_value = ((1/Proportion)*100); //比例帶百分比
I_value = (int)(0.5*TC); //積分秒
D_value = (int)(0.125*TC); //微分秒
//限幅處理
if(P_value > 200.0)
{
P_value = 200.0;
}
else if(P_value < 0.0)
{
P_value = 0.0;
}
if(I_value > 3600)
{
I_value = 3600;
}
else if(I_value < 0)
{
I_value = 0;
}
if(D_value > 900)
{
D_value = 900;
}
else if(D_value < 0)
{
D_value = 0;
}
Proportion = 0.6*KC;
Integral = (0.6*KC)/(0.5*TC);
Derivative = (0.6*KC)*(0.125*TC);
pid_result = pid_calc(SV_value,PV_value);
}
pid_con();//根據上一步的結果控制輸出
}
}

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