You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
100 lines
1.7 KiB
100 lines
1.7 KiB
#include "PID.h"
|
|
#include "Relays.h"
|
|
extern u16 tem;
|
|
float cold_tem=0;
|
|
float red_tem=0;
|
|
float ti;
|
|
float ki=0.001;
|
|
float kd=340;
|
|
extern u8 hot_clod_flag;
|
|
extern u8 gpio_state;
|
|
PID pid;
|
|
|
|
void PID_Init()
|
|
{
|
|
//pid.set_tem=tem;//用户设定温度
|
|
pid.Kp=170;
|
|
pid.t=500;//PID计算周期
|
|
//pid.Ti=5000000;//积分时间
|
|
//pid.Td=1000;//微分时间
|
|
pid.pwmcycle=200;//pwm周期200
|
|
pid.OUT0=1;
|
|
pid.C1ms=0;
|
|
}
|
|
|
|
void PID_Calc() //pid计算
|
|
{
|
|
float DelEk;//最近两次偏差之差
|
|
|
|
//float td;
|
|
|
|
float out;
|
|
if(pid.C1ms<(pid.t)) //计算周期未到
|
|
{
|
|
return ;
|
|
}
|
|
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，加热，关闭四通阀
|
|
//GPIO_ResetBits(GPIOA,GPIO_Pin_1);//关闭四通阀
|
|
HC595_Send_Byte(gpio_state&=0xFB);//关闭四通阀 &=1111 1011 0xFB
|
|
hot_clod_flag=2;
|
|
//pid.Iout=0;
|
|
}
|
|
if(pid.now_tem>pid.set_tem+1)
|
|
{
|
|
//得到当前的偏差值，设置温度小于实际温度
|
|
//GPIO_SetBits(GPIOA,GPIO_Pin_1);//打开四通阀，制冷
|
|
HC595_Send_Byte(gpio_state|=0x04);//打开四通阀，制冷 |=0000 0100
|
|
hot_clod_flag=1;
|
|
//pid.Iout=0;
|
|
}
|
|
|
|
if(pid.set_tem>pid.now_tem)
|
|
{
|
|
pid.Ek=pid.set_tem-pid.now_tem;
|
|
}
|
|
else
|
|
{
|
|
pid.Ek=pid.now_tem-pid.set_tem;
|
|
}
|
|
pid.Pout=pid.Kp*pid.Ek; //比例输出
|
|
|
|
pid.SEk+=pid.Ek; //历史偏差总和
|
|
|
|
DelEk=pid.Ek-pid.Ek_1; //最近两次偏差之差
|
|
|
|
//ti=pid.t/pid.Ti;
|
|
//ki=ti*pid.Kp;
|
|
|
|
pid.Iout=ki*pid.SEk; //积分输出
|
|
|
|
// td=pid.Td/pid.t;
|
|
//
|
|
// kd=pid.Kp*td;
|
|
|
|
pid.Dout=kd*DelEk; //微分输出
|
|
if(pid.Dout<0)
|
|
{
|
|
pid.Dout=0-pid.Dout;
|
|
}
|
|
|
|
//out= pid.Pout+ pid.Iout+ pid.Dout;
|
|
out= pid.Pout+pid.Iout+ pid.Dout;
|
|
|
|
if(out>pid.pwmcycle)
|
|
{
|
|
pid.OUT=pid.pwmcycle;
|
|
}
|
|
else if(out<=0)
|
|
{
|
|
pid.OUT=pid.OUT0;
|
|
}
|
|
else
|
|
{
|
|
pid.OUT=out;
|
|
}
|
|
pid.Ek_1=pid.Ek; //更新偏差
|
|
pid.C1ms=0;
|
|
}
|