From 801c188a5d178b7ff16f7bd0b9fd6581d9a6d154 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Zeng=20wei=20=28=E6=9B=BE=E5=A8=81=29?= Date: Mon, 25 Mar 2024 09:42:08 +0800 Subject: [PATCH] =?UTF-8?q?=E5=85=AC=E5=BC=8F=E8=A7=84=E8=8C=83=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HARDWARE/PID.c | 44 +++++----- HARDWARE/PID.h | 9 ++ HARDWARE/rs485.c | 131 ++++++++++++------------------ USER/control.uvguix.Administrator | 10 +-- USER/control.uvoptx | 2 +- USER/main.c | 2 +- 6 files changed, 92 insertions(+), 106 deletions(-) diff --git a/HARDWARE/PID.c b/HARDWARE/PID.c index e953021..8d80cc4 100644 --- a/HARDWARE/PID.c +++ b/HARDWARE/PID.c @@ -31,6 +31,17 @@ void PID_Init() pid.pwmcycle = 200; // pwm cycle 200 pid.OUT0 = 1; pid.C1ms = 0; + + pid.hp = 2.4; + pid.hi = 0.02; + pid.hd = 0; + + pid.cp = 9.6; + pid.ci = 0; + pid.cd = 0; + + pid.h_percent = 0; + pid.c_speed = 0; } /** @@ -125,9 +136,6 @@ void PID_Calc() // pid calc { int min_speed_count = 1800; int max_speed_count = 4800; - float pid_hp = 2.4; - float pid_cp = 9.6; - float pid_hi = 0.08; int p_hb = 52; int p_cb = 33; float DelEk; // The difference between the last two deviations @@ -141,8 +149,8 @@ void PID_Calc() // pid calc float delta_t = pid.set_tem - pid.now_tem; - int p_c = calc_cp(delta_t, p_cb, pid_cp); - int speed_count = calc_compressor_speed(p_c, min_speed_count, max_speed_count); + int p_c = calc_cp(delta_t, p_cb, pid.cp); + pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count); pid.Ek = pid.set_tem - pid.now_tem; pid.Pout = pid.Kp * pid.Ek; // Proportional output @@ -150,17 +158,17 @@ void PID_Calc() // pid calc pid.SEk += pid.Ek; // Total historical deviation // SEk limit, updated func - if (pid.SEk < - p_hb / pid_hi) { - pid.SEk = - p_hb / pid_hi; + if (pid.SEk < - p_hb / pid.hi) { + pid.SEk = - p_hb / pid.hi; } - if (speed_count == max_speed_count) { + if (pid.c_speed == max_speed_count) { pid.SEk = 0; } 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; + if (Error_calc < - (p_hb + pid.hp * delta_t) / pid.hi) { + Error_calc = - (p_hb + pid.hp * delta_t) / pid.hi; } - if (speed_count == max_speed_count) { + if (pid.c_speed == max_speed_count) { Error_calc = 0; } @@ -199,17 +207,13 @@ void PID_Calc() // pid calc pid.C1ms = 0; // heater percent - int heater_percent = calc_hp(delta_t, Error_calc, p_hb, pid_hp, pid_hi); + pid.h_percent = calc_hp(delta_t, Error_calc, p_hb, pid.hp, pid.hi); // close heater when compressor is running in full state - if (speed_count == max_speed_count) { - heater_percent = 0; + if (pid.c_speed == max_speed_count) { + pid.h_percent = 0; } - - // TODO:: temply, set Ki to speed count, Kd to heater_percent, use for data upload - pid.Ki = speed_count; - pid.Kd = heater_percent; - set_compressor_power(speed_count); - set_heater_power(heater_percent); + set_compressor_power(pid.c_speed); + set_heater_power(pid.h_percent); } diff --git a/HARDWARE/PID.h b/HARDWARE/PID.h index 8658f43..169d7a2 100644 --- a/HARDWARE/PID.h +++ b/HARDWARE/PID.h @@ -10,6 +10,15 @@ typedef struct Pid { float set_tem;// User settings float now_tem;// current temperature + + float hp; + float hi; + float hd; + int h_percent; + float cp; + float ci; + float cd; + int c_speed; float Kp; // 110 float Ki; // 0.001 diff --git a/HARDWARE/rs485.c b/HARDWARE/rs485.c index 6ef1135..3a4b3e4 100644 --- a/HARDWARE/rs485.c +++ b/HARDWARE/rs485.c @@ -4,10 +4,10 @@ #include "Relays.h" #include "myfreertos.h" -u8 prev_sendbuf[41] = {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, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; -u8 sendbuf[41] = {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, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; +u8 prev_sendbuf[49] = {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, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; +u8 sendbuf[49] = {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, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; 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]; @@ -384,10 +384,10 @@ void RS485_1_Send_Data_2(void) sendbuf[1] = 0xB5; sendbuf[2] = 0x05; - sendbuf[37] = 0xFF; - sendbuf[38] = 0xFC; - sendbuf[39] = 0xFF; - sendbuf[40] = 0xFF; + sendbuf[45] = 0xFF; + sendbuf[46] = 0xFC; + sendbuf[47] = 0xFF; + sendbuf[48] = 0xFF; // u8 a; if (T <= 1000 && T >= -1000) { @@ -430,87 +430,60 @@ void RS485_1_Send_Data_2(void) sendbuf[10] = blue_light2; sendbuf[11] = white_light1; sendbuf[12] = white_light2; - if (C <= 5000) - { - CO2_1 = (C & 0xFF00) >> 8; - CO2_1 = C & 0x00FF; - } - sendbuf[13] = CO2_1; - sendbuf[14] = CO2_2; - if (now_stage > 0 && 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; // 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 - } - // now_stage = 1; - 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; // 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 - - // TODO::temp - 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 - sendbuf[28] = (int)pid.Kd % 256; - - // num = (((pid.OUT * 350) / pid.pwmcycle) - 1); - - int out1 = pid.OUT; - // speed count - int speed_count = out1 / 200.0 * (6000 - 1500) + 1500; - if (speed_count > 6000) - { - speed_count = 6000; - } - sendbuf[29] = (speed_count) / 256; - sendbuf[30] = (speed_count) % 256; - // sendbuf[29] = ((int)(pid.OUT * 1000)) / 256; - // sendbuf[30] = ((int)(pid.OUT * 1000)) % 256; + // if (C <= 5000) + // { + // CO2_1 = (C & 0xFF00) >> 8; + // CO2_1 = C & 0x00FF; + // } + sendbuf[13] = (C & 0xFF00) >> 8; + sendbuf[14] = C & 0x00FF; + sendbuf[15] = 0; // current state + sendbuf[16] = now_stage; // current state + sendbuf[17] = total[3 + 18 * (now_stage - 1)]; // stage hour + sendbuf[18] = total[4 + 18 * (now_stage - 1)]; // stage minute + sendbuf[19] = chour; // run hour + sendbuf[20] = cminute; // run minute + sendbuf[21] = 0; // hot clod state + sendbuf[22] = hot_clod_flag; // hot clod state + sendbuf[23] = 0; // humidity state + sendbuf[24] = humidity_flag; // humidity state + sendbuf[25] = 0; // ALARM state + sendbuf[26] = ALARM; // ALARM state + + sendbuf[27] = (int)pid.hp / 256; // Kp 110 + sendbuf[28] = (int)pid.hp % 256; // Kp 110 + sendbuf[29] = ((int)(pid.hi * 100000)) / 256; // Ti 0.001 + sendbuf[30] = ((int)(pid.hi * 100000)) % 256; // Ti 0.001 + sendbuf[31] = (int)pid.hd / 256; // Td 340 + sendbuf[32] = (int)pid.hd % 256; // Td 340 + sendbuf[33] = pid.h_percent / 256; // h_percent + sendbuf[34] = pid.h_percent % 256; // h_percent + + sendbuf[35] = (int)pid.cp / 256; // Kp 110 + sendbuf[36] = (int)pid.cp % 256; // Kp 110 + sendbuf[37] = ((int)(pid.ci * 100000)) / 256; // Ti 0.001 + sendbuf[38] = ((int)(pid.ci * 100000)) % 256; // Ti 0.001 + sendbuf[39] = (int)pid.cd / 256; // Td 340 + sendbuf[40] = (int)pid.cd % 256; // Td 340 + sendbuf[41] = pid.c_speed / 256; // h_percent + sendbuf[42] = pid.c_speed % 256; // h_percent + // bufcut_Init(sendbuf_crc, sendbuf, 3, 31); // GetCRC16(sendbuf_crc, 28, &crc_num1, &crc_num2); - - int tem_offset_10times = (int)(pid.tem_offset * 10); - - if (tem_offset_10times < 0) { - tem_offset_10times = (~(tem_offset_10times - 1)) & 0xFFFF; - } - sendbuf[31] = tem_offset_10times / 256; // tem offset - sendbuf[32] = tem_offset_10times % 256; - - sendbuf[33] = ((int)(pid.tem_threshold * 10)) / 256; // tem threshold - sendbuf[34] = ((int)(pid.tem_threshold * 10)) % 256; - - GetCRC16(sendbuf, 35, &crc_num1, &crc_num2); - sendbuf[35] = crc_num1; - sendbuf[36] = crc_num2; + GetCRC16(sendbuf, 43, &crc_num1, &crc_num2); + sendbuf[43] = crc_num1; + sendbuf[44] = crc_num2; // u8 tmpabc[] = {0xAA, 0xBB, 0xCC}; // RS485_1_Send_Data(tmpabc, 3); // only when modify happen, then send - if (cmp_str(prev_sendbuf, sendbuf, 41) != 0) { + if (cmp_str(prev_sendbuf, sendbuf, 49) != 0) { - RS485_1_Send_Data(sendbuf, 41); + RS485_1_Send_Data(sendbuf, 49); - cp_str_to_prev(prev_sendbuf, sendbuf, 41); + cp_str_to_prev(prev_sendbuf, sendbuf, 49); } } diff --git a/USER/control.uvguix.Administrator b/USER/control.uvguix.Administrator index 89240d3..5e11bd1 100644 --- a/USER/control.uvguix.Administrator +++ b/USER/control.uvguix.Administrator @@ -95,7 +95,7 @@ 0 1454 - 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@@ -1722,7 +1722,7 @@ Debug 2373 - 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898 @@ -1767,16 +1767,16 @@ ../HARDWARE/PID.c - 0 + 17 115 - 141 + 130 1 0 ../HARDWARE/PID.h - 7 + 8 5 17 1 diff --git a/USER/control.uvoptx b/USER/control.uvoptx index 83b52e2..c51f18f 100644 --- a/USER/control.uvoptx +++ b/USER/control.uvoptx @@ -118,7 +118,7 @@ 0 ST-LINKIII-KEIL_SWO - -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($$Device:STM32F103C8$Flash\STM32F10x_128.FLM) + -U16004A002933353739303541 -O239 -S0 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM) 0 diff --git a/USER/main.c b/USER/main.c index b5ecba8..afedd62 100644 --- a/USER/main.c +++ b/USER/main.c @@ -28,7 +28,7 @@ int main(void) PWM3_Init(500 - 1, 720 - 1); TIM4_Init(10000 - 1, 7200 - 1); // 1s计数溢出，更新中断10000*7200/72M=1s,内含喂狗程序 iwdg_my_Init(5, 16000); // 不喂狗12s复位 - // RX_BUF_Init(); + RX_BUF_Init(); // GPIO_ResetBits(GPIOB,GPIO_Pin_0); // 红白蓝对应J10 J11 J12