From 3b2bf2e30e55eb5afff2078f58a63dc426a73e2b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Zeng=20wei=20=28=E6=9B=BE=E5=A8=81=29?= Date: Mon, 29 Jan 2024 09:51:07 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9Epid=E5=8F=82=E6=95=B0?= =?UTF-8?q?=E5=92=8Cout=E7=9A=84=E4=B8=8A=E4=BC=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HARDWARE/PID.c | 43 +- HARDWARE/PID.h | 6 +- HARDWARE/rs485.c | 51 +- OBJ/LED.axf | Bin 566992 -> 567536 bytes OBJ/LED.build_log.htm | 95 +- OBJ/LED.hex | 3147 +++++++++++++++-------------- OBJ/LED.htm | 1671 +++++++-------- OBJ/bufcut.o | Bin 389060 -> 389060 bytes OBJ/cjson.o | Bin 124800 -> 124800 bytes OBJ/control_LED.dep | 20 +- OBJ/core_cm3.o | Bin 11452 -> 11452 bytes OBJ/croutine.o | Bin 413640 -> 413640 bytes OBJ/dhcp.o | Bin 422308 -> 422308 bytes OBJ/dns.o | Bin 415280 -> 415280 bytes OBJ/event_groups.o | Bin 437752 -> 437752 bytes OBJ/heap_4.o | Bin 426072 -> 426072 bytes OBJ/iwdg.o | Bin 383948 -> 383948 bytes OBJ/list.o | Bin 416532 -> 416532 bytes OBJ/main.crf | Bin 411251 -> 411301 bytes OBJ/main.o | Bin 444448 -> 444468 bytes OBJ/md5.o | Bin 400872 -> 400872 bytes OBJ/misc.o | Bin 385464 -> 385464 bytes OBJ/mqtt_api.o | Bin 422532 -> 422532 bytes OBJ/mqttconnectclient.o | Bin 408928 -> 408928 bytes OBJ/mqttconnectserver.o | Bin 403952 -> 403952 bytes OBJ/mqttdeserializepublish.o | Bin 402260 -> 402260 bytes OBJ/mqttformat.o | Bin 420924 -> 420924 bytes OBJ/mqttpacket.o | Bin 430348 -> 430348 bytes OBJ/mqttserializepublish.o | Bin 408768 -> 408768 bytes OBJ/mqttsubscribeclient.o | Bin 404056 -> 404056 bytes OBJ/mqttsubscribeserver.o | Bin 402252 -> 402252 bytes OBJ/mqttunsubscribeclient.o | Bin 403600 -> 403600 bytes OBJ/mqttunsubscribeserver.o | Bin 402020 -> 402020 bytes OBJ/myfreertos.crf | Bin 414285 -> 414335 bytes OBJ/myfreertos.o | Bin 456796 -> 456812 bytes OBJ/myspi.o | Bin 386056 -> 386056 bytes OBJ/osc.o | Bin 385880 -> 385880 bytes OBJ/pid.crf | Bin 353881 -> 353966 bytes OBJ/pid.o | Bin 390960 -> 391040 bytes OBJ/port.o | Bin 431092 -> 431092 bytes OBJ/pwm.o | Bin 399692 -> 399692 bytes OBJ/pwmout.crf | Bin 349049 -> 349099 bytes OBJ/pwmout.o | Bin 387456 -> 387476 bytes OBJ/queue.o | Bin 486936 -> 486936 bytes OBJ/relays.o | Bin 390104 -> 390104 bytes OBJ/rs485.crf | Bin 417795 -> 417956 bytes OBJ/rs485.o | Bin 468292 -> 468788 bytes OBJ/rtc.o | Bin 404264 -> 404264 bytes OBJ/socket.o | Bin 403728 -> 403728 bytes OBJ/spi.o | Bin 383836 -> 383836 bytes OBJ/stm32f10x_adc.o | Bin 434316 -> 434316 bytes OBJ/stm32f10x_bkp.o | Bin 395708 -> 395708 bytes OBJ/stm32f10x_can.o | Bin 418876 -> 418876 bytes OBJ/stm32f10x_cec.o | Bin 398456 -> 398456 bytes OBJ/stm32f10x_crc.o | Bin 386540 -> 386540 bytes OBJ/stm32f10x_dac.o | Bin 396368 -> 396368 bytes OBJ/stm32f10x_dbgmcu.o | Bin 382440 -> 382440 bytes OBJ/stm32f10x_dma.o | Bin 395792 -> 395792 bytes OBJ/stm32f10x_exti.o | Bin 389748 -> 389748 bytes OBJ/stm32f10x_flash.o | Bin 422744 -> 422744 bytes OBJ/stm32f10x_fsmc.o | Bin 407696 -> 407696 bytes OBJ/stm32f10x_gpio.o | Bin 406484 -> 406484 bytes OBJ/stm32f10x_i2c.o | Bin 428268 -> 428268 bytes OBJ/stm32f10x_it.o | Bin 420640 -> 420640 bytes OBJ/stm32f10x_iwdg.o | Bin 386532 -> 386532 bytes OBJ/stm32f10x_pwr.o | Bin 391412 -> 391412 bytes OBJ/stm32f10x_rcc.o | Bin 426988 -> 426988 bytes OBJ/stm32f10x_rtc.o | Bin 398000 -> 398000 bytes OBJ/stm32f10x_sdio.o | Bin 421692 -> 421692 bytes OBJ/stm32f10x_spi.o | Bin 413240 -> 413240 bytes OBJ/stm32f10x_tim.o | Bin 516336 -> 516336 bytes OBJ/stm32f10x_usart.o | Bin 422864 -> 422864 bytes OBJ/stm32f10x_wwdg.o | Bin 389576 -> 389576 bytes OBJ/system.o | Bin 380048 -> 380048 bytes OBJ/system_stm32f10x.o | Bin 384432 -> 384432 bytes OBJ/systick.o | Bin 418556 -> 418556 bytes OBJ/tasks.o | Bin 513496 -> 513496 bytes OBJ/timers.o | Bin 454692 -> 454692 bytes OBJ/usart.o | Bin 389216 -> 389216 bytes OBJ/utility.o | Bin 20580 -> 20580 bytes OBJ/w25q128.o | Bin 410780 -> 410780 bytes OBJ/w5500.o | Bin 438276 -> 438276 bytes OBJ/w5500api.o | Bin 410916 -> 410916 bytes OBJ/write.crf | Bin 412122 -> 412172 bytes OBJ/write.o | Bin 455412 -> 455432 bytes USER/Listings/LED.map | 1960 +++++++++--------- USER/control.uvguix.Administrator | 95 +- myfreertos/myfreertos.c | 10 +- 88 files changed, 3634 insertions(+), 3464 deletions(-) diff --git a/HARDWARE/PID.c b/HARDWARE/PID.c index 23e1246..aaa82cb 100644 --- a/HARDWARE/PID.c +++ b/HARDWARE/PID.c @@ -17,6 +17,8 @@ void PID_Init() { // pid.set_tem=tem;//用户设定温度 pid.Kp = 110; + pid.Ki = 0.001; + pid.Kd = 340; pid.t = 500; // PID计算周期 // pid.Ti=5000000;//积分时间 // pid.Td=1000;//微分时间 @@ -52,12 +54,12 @@ void PID_Calc() // pid // ti=pid.t/pid.Ti; // ki=ti*pid.Kp; - pid.Iout = ki * pid.SEk; // 积分输出 + pid.Iout = pid.Ki * pid.SEk; // 积分输出 // td=pid.Td/pid.t; // kd=pid.Kp*td; - pid.Dout = kd * DelEk; // 微分输出 + pid.Dout = pid.Kd * DelEk; // 微分输出 if (pid.Dout < 0) { pid.Dout = 0 - pid.Dout; @@ -82,39 +84,38 @@ void PID_Calc() // pid if (pid.set_tem > pid.now_tem + 1) { - // 得到当前的偏差值，设置温度大于实际温度1℃，加热，关闭压缩机，打开加热棒 - /*GPIO1->报警铃 GPIO6->压缩机 GPIO3->加热棒 GPIO4—>新风风扇 GPIO5->加湿器 */ - // HC595_Send_Byte(gpio_state&=0xDF);//关闭压缩机 &=1101 1111 0xDF + // 得到当前的偏差值，设置温度大于实际温度1℃，加热，close compressor，open heater + /*GPIO1->报警铃 GPIO3->heater GPIO4—>新风风扇 GPIO5->加湿器 GPIO6->compressor */ + HC595_Send_Byte(gpio_state &= 0xDF);//close compressor &=1101 1111 0xDF TIM_SetCompare3(TIM3, 0); - HC595_Send_Byte(gpio_state |= 0x04); // 打开加热棒 |=0000 0100 0x04 + HC595_Send_Byte(gpio_state |= 0x04); // open heater |=0000 0100 0x04 hot_clod_flag = 2; pid.Iout = 0; - } - if (pid.now_tem > pid.set_tem) + } else if (pid.now_tem > pid.set_tem) { - // 得到当前的偏差值，设置温度小于实际温度，制冷，打开压缩机，关闭加热棒 - HC595_Send_Byte(gpio_state &= 0xFB); // 关闭加热棒 &=1111 1011 0xFB - num = (((pid.OUT * 400) / pid.pwmcycle) - 1); // 请问这个pid.OUT与pwm占空比的值是如何换算过来的 - TIM_SetCompare3(TIM3, num); - // printf("%d\r\n",num); + // 得到当前的偏差值，设置温度小于实际温度，制冷，open compressor，close heater + HC595_Send_Byte(gpio_state &= 0xFB); // close heater &=1111 1011 0xFB // 0-200对应0-100%，如果pid.out=50,占空比就是25%，//num=50*400/200=100，100/400=25% - // HC595_Send_Byte(gpio_state|=0x20);//打开压缩机 |=0010 0000 + // TODO:: change maxinum from 400 to 300 + num = (((pid.OUT * 400) / pid.pwmcycle) - 1); // pid.OUT与pwm占空比的值换算 + TIM_SetCompare3(TIM3, num / 4); + // printf("%d\r\n",num); + HC595_Send_Byte(gpio_state|=0x20);//open compressor |=0010 0000 hot_clod_flag = 1; // pid.Iout=0; } if (hot_clod_flag == 1 && T <= tem - 3) // 制冷过程中温度下降低于设定温度0.3℃ { - // HC595_Send_Byte(gpio_state&=0xDB);//关闭压缩机 关闭加热棒 &=1101 1101 0xDB - TIM_SetCompare3(TIM3, 0); // 关闭压缩机 - HC595_Send_Byte(gpio_state &= 0xFB); // 关闭加热棒 + HC595_Send_Byte(gpio_state&=0xDB);// close compressor and heater &=1101 1011 0xDB + TIM_SetCompare3(TIM3, 0); // close compressor hot_clod_flag = 0; } - if (hot_clod_flag == 2 && T >= tem) + if (hot_clod_flag == 2 && T >= tem) // while heat, T above tem { - // HC595_Send_Byte(gpio_state&=0xDB);//关闭压缩机 关闭四通阀 &=1101 1101 0xDB - TIM_SetCompare3(TIM3, 0); // 关闭压缩机 - HC595_Send_Byte(gpio_state &= 0xFB); // 关闭加热棒 + HC595_Send_Byte(gpio_state&=0xDB);//close compressor and heater &=1101 1011 0xDB + TIM_SetCompare3(TIM3, 0); // close compressor hot_clod_flag = 0; } + // HC595_Send_Byte(gpio_state&=0xDB);// close compressor and heater &=1101 1011 0xDB } diff --git a/HARDWARE/PID.h b/HARDWARE/PID.h index e40e542..558c111 100644 --- a/HARDWARE/PID.h +++ b/HARDWARE/PID.h @@ -9,10 +9,12 @@ typedef struct Pid float set_tem;//用户设定值 float now_tem;//当前温度 - float Kp; + float Kp; // 110 int t; //PID计算周期--采样周期 float Ti; - float Td; + float Td; + float Ki; // 0.001 + float Kd; // 340 float Ek; //本次偏差 float Ek_1;//上次偏差 diff --git a/HARDWARE/rs485.c b/HARDWARE/rs485.c index 2b7a496..bf0fb83 100644 --- a/HARDWARE/rs485.c +++ b/HARDWARE/rs485.c @@ -4,8 +4,8 @@ #include "Relays.h" #include "myfreertos.h" -u8 sendbuf[29] = {0xEE, 0xB5, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; // 发送给串口屏的实时数据 +u8 sendbuf[37] = {0xEE, 0xB5, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; // 发送给串口屏的实时数据 u8 sendbuf_crc[20] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; extern u8 global_buffer[64]; @@ -45,6 +45,7 @@ u8 crc_num2 = 0xFF; extern int T; extern int H; extern int C; +extern PID pid; // extern u16 RED_LIGHT; // extern u16 WHITE_LIGHT; // extern u16 BLUE_LIGHT; @@ -366,10 +367,10 @@ void RS485_1_Send_Data_2(void) // sendbuf[0] = 0xEE; sendbuf[1] = 0xB5; sendbuf[2] = 0x05; - sendbuf[25] = 0xFF; - sendbuf[26] = 0xFC; - sendbuf[27] = 0xFF; - sendbuf[28] = 0xFF; + sendbuf[33] = 0xFF; + sendbuf[34] = 0xFC; + sendbuf[35] = 0xFF; + sendbuf[36] = 0xFF; u8 a; RS485_1_TX_EN = 1; // 设置为发送模式 if (T <= 500000) @@ -419,20 +420,30 @@ void RS485_1_Send_Data_2(void) // sendbuf[14] = CO2_2; if (now_stage < 7 && total[3 + 18 * (now_stage - 1)] < 24 && total[4 + 18 * (now_stage - 1)] < 60 && chour < 24 && cminute < 60) { - sendbuf[15] = now_stage; // 当前阶段 - sendbuf[16] = total[3 + 18 * (now_stage - 1)]; // 阶段小时 - sendbuf[17] = total[4 + 18 * (now_stage - 1)]; // 阶段分钟 - sendbuf[18] = chour; // 已运行小时数 - sendbuf[19] = cminute; // 已运行分钟数 + sendbuf[15] = now_stage; // current state + sendbuf[16] = total[3 + 18 * (now_stage - 1)]; // stage hour + sendbuf[17] = total[4 + 18 * (now_stage - 1)]; // stage minute + sendbuf[18] = chour; // run hour + sendbuf[19] = cminute; // run minute } - sendbuf[20] = hot_clod_flag; // 加热制冷状态 - sendbuf[21] = humidity_flag; // 加湿干燥状态 - sendbuf[22] = ALARM; // 报警状态状态 - - bufcut_Init(sendbuf_crc, sendbuf, 3, 23); - GetCRC16(sendbuf_crc, 20, &crc_num1, &crc_num2); - sendbuf[23] = crc_num1; - sendbuf[24] = crc_num2; + sendbuf[20] = hot_clod_flag; // hot clod state + sendbuf[21] = humidity_flag; // humidity state + sendbuf[22] = ALARM; // ALARM state + + sendbuf[23] = (int)pid.Kp / 256; // Kp 110 + sendbuf[24] = (int)pid.Kp % 256; // Kp 110 + sendbuf[25] = ((int)(pid.Ki * 100000)) / 256; // Ti 0.001 + sendbuf[26] = ((int)(pid.Ki * 100000)) % 256; // Ti 0.001 + sendbuf[27] = (int)pid.Kd / 256; // Td 340 + sendbuf[28] = (int)pid.Kd % 256; // Td 340 + // num = (((pid.OUT * 350) / pid.pwmcycle) - 1); + sendbuf[29] = ((int)(pid.OUT * 1000)) / 256; + sendbuf[30] = ((int)(pid.OUT * 1000)) % 256; + + bufcut_Init(sendbuf_crc, sendbuf, 3, 31); + GetCRC16(sendbuf_crc, 28, &crc_num1, &crc_num2); + sendbuf[31] = crc_num1; + sendbuf[32] = crc_num2; // for(int i=0;i<20;i++) // { // printf("%x ",sendbuf_crc[i]); @@ -446,7 +457,7 @@ void RS485_1_Send_Data_2(void) // // } // printf("%x\r\n",sendbuf[0]); - for (a = 0; a < 29; a++) // 循环发送数据 + for (a = 0; a < 37; a++) // 循环发送数据 { while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET) ; diff 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