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Zeng wei (曾威) 2 years ago
parent 801c188a5d
commit ab9582ce1b
4 changed files with 105 additions and 85 deletions
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70
HARDWARE/PID.c
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@ -2,7 +2,6 @@
#include "Relays.h"
#include "USART.h"
#include "rs485.h"
extern u16 tem;
float cold_tem = 0;
float red_tem = 0;
float ti;
@ -18,7 +17,6 @@ int max_speed_count = 6000;
void PID_Init()
{
// pid.set_tem=tem;// user set temperature
// if flash have not a vaild value, just set a default value
if (pid.Kp < 1e-7) { pid.Kp = 9.6; }
if (pid.Ki < 1e-7) { pid.Ki = 0.01; }
@ -32,13 +30,22 @@ void PID_Init()
pid.OUT0 = 1;
pid.C1ms = 0;
pid.hp = 2.4;
pid.hi = 0.02;
pid.hd = 0;
pid.max_compressor_tem = 30;
pid.cp = 9.6;
pid.hp_h = 5;
pid.hi_h = 0.02;
pid.hd_h = 0.5;
pid.h_base_h = 0;
pid.hp_l = 19.2;
pid.hi_l = 0.08;
pid.hd_l = 0;
pid.h_base_l = 30;
pid.cp = 4.8;
pid.ci = 0;
pid.cd = 0;
pid.c_base = 37;
pid.h_percent = 0;
pid.c_speed = 0;
@ -93,8 +100,8 @@ void set_heater_power(int percent) {
/**
* heater power calc
*/
int calc_hp(float delta_t, float Error_calc, int p_hb, float pid_hp, float pid_hi) {
int p_h = p_hb + pid_hp * delta_t + pid_hi * Error_calc;
int calc_hp(float delta_t, float Error_calc, float DelEk, int p_hb, float pid_hp, float pid_hi, float pid_hd) {
int p_h = p_hb + pid_hp * delta_t + pid_hi * Error_calc + pid_hd * DelEk;
if (p_h > 100) {
return 100;
}
@ -136,8 +143,6 @@ void PID_Calc() // pid calc
{
int min_speed_count = 1800;
int max_speed_count = 4800;
int p_hb = 52;
int p_cb = 33;
float DelEk; // The difference between the last two deviations
// float td;
float out;
@ -148,32 +153,55 @@ 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);
// When the target tem is greater then max compressor tem, the compressor will stop
if (pid.set_tem > pid.max_compressor_tem) {
pid.c_speed = 0;
} else {
int p_c = calc_cp(delta_t, pid.c_base, pid.cp);
pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count);
}
float hp = pid.hp_h;
float hi = pid.hi_h;
float hd = pid.hd_h;
int h_base = pid.h_base_h;
// l mode
if (pid.set_tem <= pid.max_compressor_tem) {
hp = pid.hp_l;
hi = pid.hi_l;
hd = pid.hd_l;
h_base = pid.h_base_l;
}
pid.Ek = pid.set_tem - pid.now_tem;
pid.Pout = pid.Kp * pid.Ek; // Proportional output
pid.SEk += pid.Ek; // Total historical deviation
DelEk = pid.Ek - pid.Ek_prev; // The difference between the last two deviations
// no integral when the deviation is too large
if (pid.now_tem < pid.set_tem - 3) {
pid.SEk = 0;
}
// SEk limit, updated func
if (pid.SEk < - p_hb / pid.hi) {
pid.SEk = - p_hb / pid.hi;
if (pid.SEk < - h_base / hi) {
pid.SEk = - h_base / hi;
}
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 < - (h_base + hp * delta_t) / hi) {
Error_calc = - (h_base + hp * delta_t) / hi;
}
if (pid.c_speed == max_speed_count) {
Error_calc = 0;
}
DelEk = pid.Ek - pid.Ek_1; // The difference between the last two deviations
// ti=pid.t/pid.Ti;
// ki=ti*pid.Kp;
@ -203,11 +231,9 @@ void PID_Calc() // pid calc
{
pid.OUT = out;
}
pid.Ek_1 = pid.Ek; // udpate difference
pid.C1ms = 0;
// heater percent
pid.h_percent = calc_hp(delta_t, Error_calc, p_hb, pid.hp, pid.hi);
pid.h_percent = calc_hp(delta_t, Error_calc, DelEk, h_base, hp, hi, hd);
// close heater when compressor is running in full state
if (pid.c_speed == max_speed_count) {
pid.h_percent = 0;
@ -216,4 +242,8 @@ void PID_Calc() // pid calc
set_compressor_power(pid.c_speed);
set_heater_power(pid.h_percent);
pid.Ek_prev = pid.Ek; // udpate difference
pid.C1ms = 0;
}

24
HARDWARE/PID.h
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@ -11,13 +11,29 @@ typedef struct Pid
float set_tem;// User settings
float now_tem;// current temperature
float hp;
float hi;
float hd;
float max_compressor_tem; // maximum temperature of the compressor. When the target tem is greater than this value, the compressor is turned off.
float out_tem; // outer temperature
float out_humidity; // outer humidity
// in h mode
float hp_h;
float hi_h;
float hd_h;
int h_base_h; // base power percent in h mode
// in l mode
float hp_l;
float hi_l;
float hd_l;
int h_base_l; // base power percent in l mode
int h_percent;
float cp;
float ci;
float cd;
float c_base;
int c_speed;
float Kp; // 110
@ -28,7 +44,7 @@ typedef struct Pid
float Td;
float Ek; // This deviation
float Ek_1;// Last deviation
float Ek_prev;// Last deviation
float SEk; // The sum of historical deviations
float Iout;

38
HARDWARE/rs485.c
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@ -380,6 +380,10 @@ void RS485_1_Send_Data_1(u8 *buf, u8 len)
void RS485_1_Send_Data_2(void)
{
// when T eq 0 and H eq 0, don't send
if (T == 0 && H == 0) {
return;
}
sendbuf[0] = 0xEE;
sendbuf[1] = 0xB5;
sendbuf[2] = 0x05;
@ -450,21 +454,35 @@ void RS485_1_Send_Data_2(void)
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
if (pid.set_tem > pid.max_compressor_tem) {
// h mode
sendbuf[27] = (int)(pid.hp_h * 1000) / 256; // Kp 110
sendbuf[28] = (int)(pid.hp_h * 1000) % 256; // Kp 110
sendbuf[29] = ((int)(pid.hi_h * 100000)) / 256; // Ti 0.001
sendbuf[30] = ((int)(pid.hi_h * 100000)) % 256; // Ti 0.001
sendbuf[31] = (int)(pid.hd_h * 1000) / 256; // Td 340
sendbuf[32] = (int)(pid.hd_h * 1000) % 256; // Td 340
} else {
// l mode
sendbuf[27] = (int)(pid.hp_l * 1000) / 256; // Kp 110
sendbuf[28] = (int)(pid.hp_l * 1000) % 256; // Kp 110
sendbuf[29] = ((int)(pid.hi_l * 100000)) / 256; // Ti 0.001
sendbuf[30] = ((int)(pid.hi_l * 100000)) % 256; // Ti 0.001
sendbuf[31] = (int)(pid.hd_l * 1000) / 256; // Td 340
sendbuf[32] = (int)(pid.hd_l * 1000) % 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[35] = (int)(pid.cp * 1000) / 256; // Kp 110
sendbuf[36] = (int)(pid.cp * 1000) % 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[39] = (int)pid.cd / 256; // Td 340
// sendbuf[40] = (int)pid.cd % 256; // Td 340
// TODO::temply print out_tem
sendbuf[39] = (int)(pid.out_tem * 10) / 256; // Td 340
sendbuf[40] = (int)(pid.out_tem * 10) % 256; // Td 340
sendbuf[41] = pid.c_speed / 256; // h_percent
sendbuf[42] = pid.c_speed % 256; // h_percent

52
myfreertos/myfreertos.c
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@ -185,7 +185,8 @@ void SensorDataRequestTask(void *pvParameters) {
while (1) {
// 发送传感器数据请求的操作
RS485_1_Send_Data_1(rs485buf, 8);
// delay_xms(100);
delay_xms(100);
// RS485_1_Send_Data_1(RS485_RX_BUF, 48);
vTaskDelay(SENSOR_DATA_REQUEST_PERIOD);
@ -206,54 +207,9 @@ int hot = 0;
*/
void HotTestRequestTask(void *pvParameters) {
while (1) {
if (!(T == 0 && H == 0)) {
PID_Calc();
// if (T >= 350) {
// hot = 0;
// hot_clod_flag = 0;
// } else {
// hot = 52;
// hot_clod_flag = 2;
// // hot += 10;
// // if (hot > 100) {
// // hot = 10;
// // }
// }
// u8 temp_data[8] = { 0x10, 0x06, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 };
// temp_data[4] = hot / 256;
// temp_data[5] = hot % 256;
// GetCRC16(temp_data, 6, temp_data + 6, temp_data + 7);
// RS485_3_Init(9600);
// RS485_3_Send_Data(temp_data, 8);
// // RS485_1_Send_Data(temp_data, 8);
// delay_xms(30);
// RS485_1_Init(9600);
// HC595_Send_Byte(gpio_state |= 0x04); // open heater |=0000 0100 0x04
// vTaskDelay(60000);
// temp_data[4] = 0;
// temp_data[5] = 0;
// GetCRC16(temp_data, 6, temp_data + 6, temp_data + 7);
// // RS485_3_Init(9600);
// RS485_1_Send_Data(temp_data, 8);
// // RS485_3_Send_Data(temp_data, 8);
// // delay_xms(30);
// // RS485_1_Init(9600);
// // HC595_Send_Byte(gpio_state &= 0xFB); // close heater &=1111 1011 0xFB
// hot_clod_flag = 0;
}
vTaskDelay(5000);
}
}

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