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標(biāo)題: pid控溫程序存在，測了輸出端波形很亂，但變化有一定規(guī)律，pwm波不是方波嗎？怎么.... [打印本頁]

作者: xixi852582 時間: 2015-11-15 17:09
標(biāo)題: pid控溫程序存在，測了輸出端波形很亂，但變化有一定規(guī)律，pwm波不是方波嗎？怎么....
#include<intrins.h>
#include<math.h>
#include<string.h>
struct PID
{
unsigned int SetPoint ;
// 設(shè)定目標(biāo) Desired Value
unsigned int Proportion ;
// 比例常數(shù) Proportional Const
unsigned int Integral ;
// 積分常數(shù) Integral Const
unsigned int Derivative ;
// 微分常數(shù) Derivative Const
unsigned int LastError ;
// Error[-1]
unsigned int PrevError ;
// Error[-2]
unsigned int SumError ;
// Sums of Errors
}
;
struct PID spid ;
// PID Control Structure
unsigned int rout ;
// PID Response (Output)
unsigned int rin ;
// PID Feedback (Input)
unsigned int set_temper,temper,s ;

sbit output=P3^4;
unsigned char high_time,low_time,count=0 ;
//占空比調(diào)節(jié)參數(shù)

void PIDInit(struct PID*pp)
{
memset(pp,0,sizeof(struct PID)); //PID參數(shù)初始化全部設(shè)置為0
}

unsigned int PIDCalc(struct PID*pp,unsigned int NextPoint)
{
unsigned int dError,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 ;
//比例
//積分項
return(pp->Proportion*Error+pp->Integral*pp->SumError+pp->Derivative*dError);
// 微分項
}

/***********************************************************
溫度比較處理子程序
***********************************************************/
void compare_temper(unsigned int set_temper,unsigned int temper)
{
unsigned char i ;
//EA=0;
if(set_temper>temper)
{
      if(set_temper-temper>10)
      {
         high_time=100 ; //大于1°不進(jìn)行PID運算
         low_time=0 ;
      }
      else
      { //在1°范圍內(nèi)進(jìn)行PID運算
         for(i=0;i<10;i++)
         {
            //get_temper();
            rin=temper;
            // Read Input
            rout=PIDCalc(&spid,rin); //執(zhí)行PID運算
            // Perform PID Interation
         }
         if(high_time<=100) //限制最大值
         high_time=(unsigned char)(rout/800);
         else
         high_time=100;
         low_time=(100-high_time);
      }
}
/****************************************/
else if(set_temper<=temper) //當(dāng)實際溫度大于設(shè)置溫度時
{
      if(temper-set_temper>0)//如果實際溫度大于設(shè)定溫度
      {
         high_time=0 ;
         low_time=100 ;
      }
      else
      {
         for(i=0;i<10;i++)
         {
            //get_temper();
            rin=temper;
            // Read Input
            rout=PIDCalc(&spid,rin);
            // Perform PID Interation
         }
         if(high_time<100) //此變量是無符號字符型
         high_time=(unsigned char)(rout/10000);
         else
         high_time=0 ;//限制不輸出負(fù)值
         low_time=(100-high_time);
         //EA=1;
      }
}
}

/*****************************************************
T1中斷服務(wù)子程序，用于控制電平的翻轉(zhuǎn) ,40us*100=4ms周期
******************************************************/
void serve_T1()interrupt 3 using 1
{
if(++count<=(high_time))
      output=0 ;
else if(count<=100)
{
      output=1 ;
}
else
count=0 ;
TH1=0x2f ;
TL1=0xe0 ;
}

void PIDBEGIN()
{

TH1=0x2f ;
TL1=0x40 ;

ET1=1 ;
TR1=1 ;

high_time=50 ;
low_time=50 ;
PIDInit(&spid);
// Initialize Structure
spid.Proportion=10 ;
// Set PID Coefficients
spid.Integral=8 ;
spid.Derivative=6 ;
spid.SetPoint=100 ;
// Set PID Setpoint

}
#endif
main
{
while(1){
PIDBEGIN();
if(hengwen==0)
{

  compare_temper(temp4,temp5);

}
}
}
temp4是設(shè)定溫度和temp5時實際溫度，求高人指點，急急急

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