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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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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.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=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=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，关闭压缩机，打开加热棒
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/*GPIO1->报警铃 GPIO6->压缩机 GPIO3->加热棒 GPIO4—>新风风扇 GPIO5->加湿器 */
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//HC595_Send_Byte(gpio_state&=0xDF);//关闭压缩机 &=1101 1111 0xDF
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TIM_SetCompare3(TIM3,0);
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HC595_Send_Byte(gpio_state|=0x04);//打开加热棒 |=0000 0100 0x04
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hot_clod_flag=2;
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pid.Iout=0;
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}
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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，打开压缩机，关闭加热棒
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HC595_Send_Byte(gpio_state&=0xFB);//关闭加热棒 &=1111 1011 0xFB
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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
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TIM_SetCompare3(TIM3,num);
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//printf("%d\r\n",num);
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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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//HC595_Send_Byte(gpio_state|=0x20);//打开压缩机 |=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);//关闭压缩机 关闭加热棒 &=1101 1101 0xDB
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TIM_SetCompare3(TIM3,0);//关闭压缩机
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HC595_Send_Byte(gpio_state&=0xFB);//关闭加热棒
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hot_clod_flag=0;
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}
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if(hot_clod_flag==2 && T>=tem)
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{
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//HC595_Send_Byte(gpio_state&=0xDB);//关闭压缩机 关闭四通阀 &=1101 1101 0xDB
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TIM_SetCompare3(TIM3,0);//关闭压缩机
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HC595_Send_Byte(gpio_state&=0xFB);//关闭加热棒
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hot_clod_flag=0;
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}
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}
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