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pid调节-加热棒pi+压缩机p+错误累计限制公式修正二,调整i中

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pid
Zeng wei (曾威) 2 years ago
parent 598778b7b6
commit 21308502ce
5 changed files with 38 additions and 25 deletions
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30
HARDWARE/PID.c
Unescape View File

@ -82,15 +82,15 @@ void set_heater_power(int percent) {
/**
* heater power calc
*/
int calc_hp(float t_t, float t_c, float error, int p_b, float pid_p, float pid_i) {
int p = p_b + pid_p * (t_t - t_c) + pid_i * error;
if (p > 100) {
int calc_hp(float t_t, float t_c, float Error_calc, int p_hb, float pid_hp, float pid_hi) {
int p_h = p_hb + pid_hp * (t_t - t_c) + pid_hi * Error_calc;
if (p_h > 100) {
return 100;
}
if (p < 0) {
if (p_h < 0) {
return 0;
}
return p;
return p_h;
}
/**
@ -124,13 +124,14 @@ int calc_compressor_speed(int percent, int v_min, int v_max) {
void PID_Calc() // pid calc
{
float Kp = 19.2;
float Ki = 0.02;
int p_base = 52;
float Ki = 0.08;
int p_hb = 52;
float DelEk; // The difference between the last two deviations
// float td;
float out;
// if (pid.C1ms < (pid.t)) // The calculation cycle has not yet arrived
// {
// return;
// }
@ -139,9 +140,16 @@ void PID_Calc() // pid calc
pid.SEk += pid.Ek; // Total historical deviation
// SEk limit
if (pid.SEk < - p_base / Ki) {
pid.SEk = - p_base / Ki;
// SEk limit, updated func
float delta_t = pid.set_tem - pid.now_tem;
float pid_hp = Kp;
float pid_hi = Ki;
if (pid.SEk < - p_hb / pid_hi) {
pid.SEk = - p_hb / pid_hi;
}
float Error_calc = pid.SEk;
if (Error_calc < - (p_hb + pid_hp * delta_t) / pid_hi) {
Error_calc = - (p_hb + pid_hp * delta_t) / pid_hi;
}
@ -179,7 +187,7 @@ void PID_Calc() // pid calc
pid.C1ms = 0;
// heater percent
int heater_percent = calc_hp(pid.set_tem, pid.now_tem, pid.SEk, p_base, Kp, Ki);
int heater_percent = calc_hp(pid.set_tem, pid.now_tem, Error_calc, p_hb, pid_hp, pid_hi);
int p_c = calc_cp(pid.set_tem, pid.now_tem, 32, Kp);

4
HARDWARE/rs485.c
Unescape View File

@ -463,8 +463,8 @@ void RS485_1_Send_Data_2(void)
// sendbuf[28] = (int)pid.Kd % 256; // Td 340
// TODO::temp
sendbuf[23] = (int)pid.SEk / 256; // SEk
sendbuf[24] = (int)pid.SEk % 256;
sendbuf[23] = (int)(-pid.SEk) / 256; // SEk
sendbuf[24] = (int)(-pid.SEk) % 256;
sendbuf[25] = (int)pid.Ki / 256; // compressor speed
sendbuf[26] = (int)pid.Ki % 256;
sendbuf[27] = (int)pid.Kd / 256; // heater percent

22
USER/control.uvguix.Administrator
Unescape View File

@ -77,8 +77,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
<xPos>-1</xPos>
<yPos>-1</yPos>
<xPos>-32000</xPos>
<yPos>-32000</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@ -95,7 +95,7 @@
<RegID>0</RegID>
<MDITabState>
<Len>1454</Len>
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<ViewEx>
@ -1690,7 +1690,7 @@
<Name>File</Name>
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<Len>2021</Len>
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@ -1722,7 +1722,7 @@
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<Len>2373</Len>
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</Buttons>
<OriginalItems>
<Len>898</Len>
@ -1746,12 +1746,12 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
<ActiveTab>0</ActiveTab>
<ActiveTab>2</ActiveTab>
<Doc>
<Name>../myfreertos/myfreertos.c</Name>
<ColumnNumber>22</ColumnNumber>
<ColumnNumber>21</ColumnNumber>
<TopLine>198</TopLine>
<CurrentLine>209</CurrentLine>
<CurrentLine>220</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@ -1767,9 +1767,9 @@
</Doc>
<Doc>
<Name>../HARDWARE/PID.c</Name>
<ColumnNumber>3</ColumnNumber>
<TopLine>143</TopLine>
<CurrentLine>168</CurrentLine>
<ColumnNumber>18</ColumnNumber>
<TopLine>157</TopLine>
<CurrentLine>176</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>

5
USER/control.uvoptx
Unescape View File

@ -115,6 +115,11 @@
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U16004A002933353739303541 -O239 -S0 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>

2
USER/control.uvprojx
Unescape View File

@ -48,7 +48,7 @@
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>.\build\Keil\</OutputDirectory>
<OutputName>control</OutputName>
<OutputName>apk</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile>

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