|
|
转一个 AVR单片机PID控制电机程序
AVR单片机PID控制电机程序2011-3-30
2011-04-10 2053
Project PID_motor
Version 第一版
Date 2011-3-30
Author
Company
Comments
Chip type ATmega16L
Program type Application
Clock frequency 4.000000 MHz
Memory model Small
External SRAM size 0
Data Stack size 256
#include mega16.h
#include delay.h
#include fyd12864.h
#include string.h
sfrw ICR1=0x26; 补充定义16位寄存器ICR1地址为0x26(mega16.h中未定义)
unsigned int icp_v1;
unsigned int icp_v2;
unsigned char icp_n;
unsigned char max_icp; 量程定义字
bit icp_ok;
bit time_4ms_ok;
bit freq_ok;
bit begin_m; 定时器1溢出，重新测量标志字
bit full_ok; 定时器1溢出
long fv;
struct PID
{
unsigned int SetPoint; 设定目标 Desired Value
unsigned int Proportion; 比例常数 Proportional Const
unsigned int Integral; 积分常数 Integral Const
unsigned int Derivative; 微分常数 Derivative Const
unsigned int LastError; Error[-1]
unsigned int PrevError; Error[-2]
unsigned int SumError; Sums of Errors
};
struct PID spid; PID Control Structure
long rout; PID Response (Output)
long rin; PID Feedback (Input)
void PID_Init(struct PID pp)
{
memset ( pp,0,sizeof(struct PID)); 全部初始化为0
}
unsigned int PID_Calc( struct PID pp, unsigned int NextPoint )
{
unsigned int dError,Error;
Error = pp-SetPoint - NextPoint; 偏差
pp-SumError += Error; 积分
dError = pp-LastError - pp-PrevError; 当前微分
pp-PrevError = pp-LastError;
pp-LastError = Error;
return (pp-Proportion Error 比例项
+ pp-Integral pp-SumError 积分项
+ pp-Derivative dError); 微分项
}
Timer 2 比较匹配中断服务，4ms定时
interrupt [TIM2_COMP] void timer2_comp_isr(void)
{
#asm(sei) 开放全局中断,允许中断嵌套
time_4ms_ok = 1;
}
Timer 1 溢出中断服务
interrupt [TIM1_OVF] void timer1_ovf_isr(void)
{
full_ok = 1;
}
Timer 1 输入捕捉中断服务
interrupt [TIM1_CAPT] void timer1_capt_isr(void)
{
if (icp_n = max_icp) 第N个上升沿到
{
icp_v2 = ICR1; 记录第N个上升沿时间
TIMSK = 0x80; 禁止TCI输入捕捉和溢出中断
icp_ok = 1;
}
else if (icp_n == 0)
{
icp_v1 = ICR1; 记录第1个上升沿时间
}
icp_n++;
}
void main(void)
{
unsigned int icp_1,icp_2;
PORTB=0x00;
DDRB=0x08;
PORTD=0x40; PD6(icp)输入方式，上拉有效
TC0 定时初始化
TCCR0=0x79; Mode Fast PWM top=FFh
TCNT0=0x00; OC0 output Non-Inverted PWM
OCR0=0xff;
TC1 计数初始化
TCCR1B = 0x41; TC1正常计数方式，上升沿触发输入捕捉，4M1计数时钟
TIMSK = 0xA4; 允许TC2比较匹配中断，允许TC1输入捕捉、溢出中断
TC2 定时初始化
TCCR2=0x0C; 内部时钟，64分频（4M64=62.5KHz），CTC模式
OCR2=0xff; OCR2 = 0xf9(249),(249+1)62.5=4ms
icp_n = 0;
max_icp =1; 定义上升沿的位序
#asm(sei) 开放全局中断
INIT_FYD();
Show_Text(3,0,chinese); (列，行，显示字)
PID_Init(&spid); Initialize Structure
spid.SetPoint = 168; 设定目标 Desired Value
spid.Proportion = 6; 比例常数 Proportional Const
spid.Integral =5; 积分常数 Integral Const
spid.Derivative =2; 微分常数 Derivative Const
FM_Num(0,1,spid.Proportion); 显示比例
FM_Num(3,1,spid.Integral); 显示积分
FM_Num(6,1,spid.Derivative); 显示微分
FM_Num(0,2,spid.SetPoint); 显示目标
while (1)
{
if (icp_ok == 1) 完成一次测量
{
if (icp_v2 = icp_v1) 计算N个上升沿的时钟脉冲个数，
icp_2 = icp_v2 - icp_v1; 两次连续的ICR1的差值
else
icp_2 = 65536 - icp_v1 + icp_v2; 定时器1溢出，加上65535
if (!(icp_v2 = icp_v1 && full_ok)) 有溢出，数据无效
{
if (icp_2 == icp_1) 两次个数相等，测量有效
{
fv = 1000000 (long)max_icp icp_2; 换算成频率值
freq_ok = 1; 频率换算完成
if (fv 4000)
{
max_icp = 20; 如果频率大于4Khz，N=64
}
else
{
max_icp = 1; N=1
}
}
}
else
max_icp = 1; 有溢出，N=1
icp_1 = icp_2;
icp_ok = 0;
begin_m = 1;
}
if (time_4ms_ok) 定时器2，定时到
{
if(freq_ok) 判断频率是否换算完成
{
rin=fv;
FM_Num(0,3,rin);
rout = PID_Calc ( &spid,rin );
rout=rout100;
FM_Num(3,3,rout);
if(rout100&&rout256)
OCR0=rout;
freq_ok = 0;
}
else if(begin_m)
{
icp_n = 0; 开始新的一次测量，
full_ok = 0; 清除溢出标志
TIFR = 0x24; 清除可能存在的输入捕捉、溢出中断标志位
TIMSK = 0xa4; 开启TC1输入捕捉、溢出中断允许
begin_m = 0;
}
time_4ms_ok = 0;
}
}
} |
阿莫论坛20周年了！感谢大家的支持与爱护！！
知道什么是神吗？其实神本来也是人，只不过神做了人做不到的事情 所以才成了神。 （头文字D, 杜汶泽）
|
发表于 2011-8-7 15:04:04
楼主
