51單片機-溫度控制-PID算法-DS18B20-C語言
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#include
#include
#include
struct PID {
unsigned int SetPoint; // 設定目標 Desired Value
unsigned int Proportion; // 比例常數 Proportional Const
unsigned int Integral; // 積分常數 Integral Const
unsigned int Derivative; // 微分常數 Derivative Const
unsigned int LastError; // Error[-1]
unsigned int PrevError; // Error[-2]
unsigned int SumError; // Sums of Errors
};
struct PID spid; // PID Control Structure
unsigned int rout; // PID Response (Output)
unsigned int rin; // PID Feedback (Input)
sbit data1=P1^0;
sbit clk=P1^1;
sbit plus=P2^0;
sbit subs=P2^1;
sbit stop=P2^2;
sbit output=P3^4;
sbit DQ=P3^3;
unsigned char flag,flag_1=0;
unsigned char high_time,low_time,count=0;//占空比調節(jié)參數
unsigned char set_temper=35;
unsigned char temper;
unsigned char i;
unsigned char j=0;
unsigned int s;
/***********************************************************
延時子程序,延時時間以12M晶振為準,延時時間為30us×time
***********************************************************/
void delay(unsigned char time)
{
unsigned char m,n;
for(n=0;n for(m=0;m<2;m++){} } /*********************************************************** 寫一位數據子程序 ***********************************************************/ void write_bit(unsigned char bitval) { EA=0; DQ=0; /*拉低DQ以開始一個寫時序*/ if(bitval==1) { _nop_(); DQ=1; /*如要寫1，則將總線置高*/ } delay(5); /*延時90us供DS18B20采樣*/ DQ=1; /*釋放DQ總線*/ _nop_(); _nop_(); EA=1; } /*********************************************************** 寫一字節(jié)數據子程序 ***********************************************************/ void write_byte(unsigned char val) { unsigned char i; unsigned char temp; EA=0; TR0=0; for(i=0;i<8;i++) /*寫一字節(jié)數據，一次寫一位*/ { temp=val>>i; /*移位操作，將本次要寫的位移到最低位*/ temp=temp&1; write_bit(temp); /*向總線寫該位*/ } delay(7); /*延時120us后*/ // TR0=1; EA=1; } /*********************************************************** 讀一位數據子程序 ***********************************************************/ unsigned char read_bit() { unsigned char i,value_bit; EA=0; DQ=0; /*拉低DQ，開始讀時序*/ _nop_(); _nop_(); DQ=1; /*釋放總線*/ for(i=0;i<2;i++){} value_bit=DQ; EA=1; return(value_bit); } /*********************************************************** 讀一字節(jié)數據子程序 ***********************************************************/ unsigned char read_byte() { unsigned char i,value=0; EA=0; for(i=0;i<8;i++) { if(read_bit()) /*讀一字節(jié)數據，一個時序中讀一次，并作移位處理*/ value|=0x01< delay(4); /*延時80us以完成此次都時序，之后再讀下一數據*/ } EA=1; return(value); } /*********************************************************** 復位子程序 ***********************************************************/ unsigned char reset() { unsigned char presence; EA=0; DQ=0; /*拉低DQ總線開始復位*/ delay(30); /*保持低電平480us*/ DQ=1; /*釋放總線*/ delay(3); presence=DQ; /*獲取應答信號*/ delay(28); /*延時以完成整個時序*/ EA=1; return(presence); /*返回應答信號，有芯片應答返回0,無芯片則返回1*/ } /*********************************************************** 獲取溫度子程序 ***********************************************************/ void get_temper() { unsigned char i,j; do { i=reset(); /*復位*/ }while(i!=0); /*1為無反饋信號*/ i=0xcc; /*發(fā)送設備定位命令*/ write_byte(i); i=0x44; /*發(fā)送開始轉換命令*/ write_byte(i); delay(180); /*延時*/ do { i=reset(); /*復位*/ }while(i!=0); i=0xcc; /*設備定位*/ write_byte(i); i=0xbe; /*讀出緩沖區(qū)內容*/ write_byte(i); j=read_byte(); i=read_byte(); i=(i<<4)&0x7f; s=(unsigned int)(j&0x0f); s=(s*100)/16; j=j>>4; temper=i|j; /*獲取的溫度放在temper中 */ } /*========================================================================= =========================== Initialize PID Structure =========================================================================== ==========================*/ void PIDInit (struct PID *pp) { memset ( pp,0,sizeof(struct PID)); } /*========================================================================= =========================== PID計算部分 =========================================================================== ==========================*/ unsigned int PIDCalc( struct PID *pp, unsigned int NextPoint ) { unsigned int dError,Error; Error = pp->SetPoint - NextPoint; // 偏差 pp->SumError += Error; // 積分 dError = pp->LastError - pp->PrevError; // 當前微分 pp->PrevError = pp->LastError; pp->LastError = Error; return (pp->Proportion * Error // 比例項 + pp->Integral * pp->SumEror // 積分項 + pp->Derivative * dError); // 微分項 } /*********************************************************** 溫度比較處理子程序 ***********************************************************/ compare_temper() { unsigned char i; if(set_temper>temper) { if(set_temper-temper>1) { high_time=100; low_time=0; } else { for(i=0;i<10;i++) { get_temper(); rin = s; // Read Input rout = PIDCalc ( &spid,rin ); // Perform PID Interation } if (high_time<=100) high_time=(unsigned char)(rout/800); else high_time=100; low_time= (100-high_time); } } else if(set_temper<=temper) { if(temper-set_temper>0) { high_time=0; low_time=100; } else { for(i=0;i<10;i++) { get_temper(); rin = s; // Read Input rout = PIDCalc ( &spid,rin ); // Perform PID Interation } if (high_time<100) high_time=(unsigned char)(rout/10000); else high_time=0; low_time= (100-high_time); } } // else // {} } /***************************************************** T0中斷服務子程序，用于控制電平的翻轉 ,40us*100=4ms周期 ******************************************************/ void serve_T0() interrupt 1 using 1 { if(++count<=(high_time)) output=1; else if(count<=100) { output=0; } else count=0; TH0=0x2f; TL0=0xe0; } /***************************************************** 串行口中斷服務程序，用于上位機通訊 ******************************************************/ void serve_sio() interrupt 4 using 2 { /* EA=0; RI=0; i=SBUF; if(i==2) { while(RI==0){} RI=0; set_temper=SBUF; SBUF=0x02; while(TI==0){} TI=0; } else if(i==3) { TI=0; SBUF=temper; while(TI==0){} TI=0; } EA=1; */ } void disp_1(unsigned char disp_num1[6]) { unsigned char n,a,m; for(n=0;n<6;n++) { // k=disp_num1[n]; for(a=0;a<8;a++) { clk=0; m=(disp_num1[n]&1); disp_num1[n]=disp_num1[n]>>1; if(m==1) data1=1; else data1=0; _nop_(); clk=1; _nop_(); } } } /***************************************************** 顯示子程序 功能：將占空比溫度轉化為單個字符，顯示占空比和測得到的溫度 ******************************************************/ void display() { unsigned char code number[]= {0xfc,0x60,0xda,0xf2,0x66,0xb6,0xbe,0xe0,0xfe,0xf6}; unsigned char disp_num[6]; unsigned int k,k1; k=high_time; k=k%1000; k1=k/100; if(k1==0) disp_num[0]=0; else disp_num[0]=0x60; k=k%100; disp_num[1]=number[k/10]; disp_num[2]=number[k%10]; k=temper; k=k%100; disp_num[3]=number[k/10]; disp_num[4]=number[k%10]+1; disp_num[5]=number[s/10]; disp_1(disp_num); } /*********************************************************** 主程序 ***********************************************************/ main() { unsigned char z; unsigned char a,b,flag_2=1,count1=0; unsigned char phil[]={2,0xce,0x6e,0x60,0x1c,2};; TMOD=0x21; TH0=0x2f; TL0=0x40; SCON=0x50; PCON=0x00; TH1=0xfd; TL1=0xfd; PS=1; EA=1; EX1=0; ET0=1; ES=1; TR0=1; TR1=1; high_time=50; low_time=50; PIDInit ( &spid ); // Initialize Structure spid.Proportion = 10; // Set PID Coefficients spid.Integral = 8; spid.Derivative =6; spid.SetPoint = 100; // Set PID Setpoint while(1) { if(plus==0) { EA=0; for(a=0;a<5;a++) for(b=0;b<102;b++){} if(plus==0) { set_temper++; flag=0; } } else if(subs==0) { for(a=0;a<5;a++) for(b=0;a<102;b++){} if(subs==0) { set_temper--; flag=0; } } else if(stop==0) { for(a=0;a<5;a++) for(b=0;b<102;b++){} if(stop==0) { flag=0; break; } EA=1; } get_temper(); b=temper; if(flag_2==1) a=b; if((abs(a-b))>5) temper=a; else temper=b; a=temper; flag_2=0; if(++count1>30) { display(); count1=0; } compare_temper(); } TR0=0; z=1; while(1) { EA=0; if(stop==0) { for(a=0;a<5;a++) for(b=0;b<102;b++){} if(stop==0) disp_1(phil); // break; } EA=1; } }
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