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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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