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#include "PID.h"
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#include "Relays.h"
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#include "USART.h"
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extern u16 tem;
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float cold_tem = 0;
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float red_tem = 0;
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float ti;
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float ki = 0.001;
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float kd = 340;
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extern u8 hot_clod_flag;
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extern u8 gpio_state;
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extern int T;
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unsigned int num = 0;
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PID pid;
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u8 rs485speed[8] = {0x01, 0x06, 0x60, 0x00, 0x00, 0x09, 0xBB, 0xAA}; // speed control for compressor controller
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int min_speed_count = 1500;
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int max_speed_count = 6000;
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void PID_Init()
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{
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// pid.set_tem=tem;//用户设定温度
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pid.Kp = 110;
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pid.Ki = 0.001;
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pid.Kd = 340;
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pid.t = 500; // PID计算周期
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// pid.Ti=5000000;//积分时间
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// pid.Td=1000;//微分时间
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pid.pwmcycle = 200; // pwm周期200
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pid.OUT0 = 1;
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pid.C1ms = 0;
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}
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void PID_Calc() // pid计算
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{
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float DelEk; // 最近两次偏差之差
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// float td;
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float out;
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if (pid.C1ms < (pid.t)) // 计算周期未到
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{
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return;
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}
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if (pid.set_tem > pid.now_tem)
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{
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pid.Ek = pid.set_tem - pid.now_tem;
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}
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else
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{
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pid.Ek = pid.now_tem - pid.set_tem;
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}
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pid.Pout = pid.Kp * pid.Ek; // 比例输出
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pid.SEk += pid.Ek; // 历史偏差总和
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DelEk = pid.Ek - pid.Ek_1; // 最近两次偏差之差
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// ti=pid.t/pid.Ti;
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// ki=ti*pid.Kp;
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pid.Iout = pid.Ki * pid.SEk; // 积分输出
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// td=pid.Td/pid.t;
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// kd=pid.Kp*td;
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pid.Dout = pid.Kd * DelEk; // 微分输出
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if (pid.Dout < 0)
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{
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pid.Dout = 0 - pid.Dout;
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}
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// out= pid.Pout+pid.Iout+ pid.Dout;
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out = pid.Pout;
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if (out > pid.pwmcycle)
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{
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pid.OUT = pid.pwmcycle;
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}
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else if (out <= 0)
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{
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pid.OUT = pid.OUT0;
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}
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else
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{
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pid.OUT = out;
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}
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pid.Ek_1 = pid.Ek; // 更新偏差
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pid.C1ms = 0;
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if (pid.set_tem > pid.now_tem + 1)
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{
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// 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
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/*GPIO1->报警铃 GPIO3->heater GPIO4—>新风风扇 GPIO5->加湿器 GPIO6->compressor */
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HC595_Send_Byte(gpio_state &= 0xDF);//close compressor &=1101 1111 0xDF
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num = 0;
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TIM_SetCompare3(TIM3, 0);
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HC595_Send_Byte(gpio_state |= 0x04); // open heater |=0000 0100 0x04
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hot_clod_flag = 2;
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pid.Iout = 0;
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} else if (pid.now_tem > pid.set_tem)
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{
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// 得到当前的偏差值，设置温度小于实际温度，制冷，open compressor，close heater
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HC595_Send_Byte(gpio_state &= 0xFB); // close heater &=1111 1011 0xFB
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// 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%
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num = (((pid.OUT * 400) / pid.pwmcycle) - 1); // pid.OUT与pwm占空比的值换算
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TIM_SetCompare3(TIM3, num / 4);
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// printf("%d\r\n",num);
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HC595_Send_Byte(gpio_state|=0x20);//open compressor |=0010 0000
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hot_clod_flag = 1;
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// pid.Iout=0;
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}
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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℃
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{
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HC595_Send_Byte(gpio_state&=0xDB);// close compressor and heater &=1101 1011 0xDB
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num = 0;
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TIM_SetCompare3(TIM3, 0); // close compressor
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hot_clod_flag = 0;
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}
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if (hot_clod_flag == 2 && T >= tem) // while heat, T above tem
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{
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HC595_Send_Byte(gpio_state&=0xDB);//close compressor and heater &=1101 1011 0xDB
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num = 0;
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TIM_SetCompare3(TIM3, 0); // close compressor
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hot_clod_flag = 0;
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}
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int out1 = pid.OUT;
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// speed count
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int speed_count = out1 / 200.0 * (max_speed_count - min_speed_count) + min_speed_count;
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if (speed_count > 6000) {
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speed_count = 6000;
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}
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rs485speed[4] = speed_count / 256;
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rs485speed[5] = speed_count % 256;
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RS485_3_Init(9600);
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delay_xms(100);
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RS485_3_Send_Data(rs485speed, 8);
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// RS485_1_Send_Data_1(rs485speed, 8);
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delay_xms(200);
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RS485_1_Init(9600);
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// HC595_Send_Byte(gpio_state&=0xDB);// close compressor and heater &=1101 1011 0xDB
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}
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