这是点机的PID调速程序哪位程序大神能给翻译下呢？

xy123 · 发表于 2018-1-3 16:05:20

#include <reg51.H>
#define SPEEDMAX 1000
sbit ENA = P1^2;
sbit CS  = P1^3;
sbit CLK = P1^4;
sbit DO  = P1^5;
unsigned char seg_data[10]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f};  //¹²Òõ¼«ÊýÂë¹Ü¶ÎÖµ
unsigned char bit_tab[4]={0xfe,0xfd,0xfb,0xf7};    //Î»Ñ¡¿ØÖÆÎ»
unsigned int mod[4]={1000,100,10,1};  //È¡Ä£¿ØÖÆÁ¿£¬ÎªÁË·½±ã¼ÆËãÊ®½øÖÆÊýµÄÃ¿Ò»Î»Êý×Ö
float s1,s2,s3,s4,s5;                      //Ëæ»ú¶¨ÒåµÄËÙ¶È±äÁ¿£¬±¸ÓÃ
unsigned int rate;                               //Î´Ê¹ÓÃ
unsigned int timer0_cnt;                         //¶¨Ê±Æ÷0¶¨Ê±ÖÐ¶Ï¼ÆÊý£¬ÎªÁË¿ØÖÆÕ¼¿Õ±ÈÊ¹ÓÃ
      int button_set_data;                      //°´¼üÉèÖÃËÙ¶ÈÖµ
unsigned char button;                            //°´¼üÖµ
unsigned char flag;                               //±êÖ¾Î»£¬Ä¿Ç°Î´Ê¹ÓÃ
unsigned char timer2_cnt;                         //¶¨Ê±Æ÷2¼ÆÊýÆ÷£¬ÓÃÀ´¼ÆÊ±500ms
unsigned char pot;                               //»¬¶¯±ä×èÆ÷µçÑ¹Öµ
unsigned int motor_plus;                         //1sÄÚ£¬µç»ú±àÂëÆ÷Âö³å¸öÊý
unsigned int driver_data;                         //Õ¼¿Õ±ÈÇý¶¯µ÷Õû
unsigned int pot_data;                            //»¬¶¯±ä×èÆ÷µçÑ¹Öµ¶ÔÓ¦µÄ×ªËÙ
unsigned int speed;                               //µç»ú×ªËÙ
      int pid_val;                            //PID¿ØÖÆÊä³öÖµ
typedef struct
{
unsigned int set_point;

float P;
float I;
float D;

unsigned int last_error;
unsigned int prev_error;
unsigned int sum_error;
}
PID;                                        //PIDËã·¨½á¹¹Ìå
PID motor_pid;                               //¶¨Òåµç»úPID¿ØÖÆ±äÁ¿
//PID¼ÆËã
int PidCalculate(PID *ppid, int next_point)    //PID¼ÆËãº¯Êý
{
float derror,error;
float val;

error=ppid->set_point-next_point;          //µ±Ç°Ê±¿Ì²îÖµ
ppid->sum_error+=error;                   //»ý·ÖÖµ£¬»ý·ÖÖµ¾ÍÊÇ²îÖµµÄÀÛ¼Ó
derror=ppid->last_error - ppid->prev_error; //Î¢·ÖÖµ£¬Î¢·Ö¾ÍÊÇµ±Ç°Ê±¿ÌµÄ²îÖµ-Ç°Ò»Ê±¿ÌµÄ²îÖµ

ppid->prev_error=ppid->last_error;       //´æ´¢µ±Ç°Ê±¿ÌµÄ²îÖµ£¬±ä³ÉÇ°Ò»Ê±¿Ì²îÖµ£¬ÎªÏÂ´Î¼ÆËã×ö×¼±¸
ppid->last_error=error;

val=ppid->P*error + ppid->I * ppid->sum_error + ppid->D*derror;
return (int)val;
}
void PidInit (PID *ppid)             //PID³õÊ¼»¯º¯Êý
{
ppid->set_point=0;
ppid->P=0.6;
ppid->I=1;
ppid->D=0.2;
}

void delay(unsigned int x)             //ÑÓÊ±º¯Êý
{
unsigned int i;
for(i=0;i<x;i++);
}
unsigned char AD0831_ReadChar(void)    //ADC¶ÁÈ¡Êý¾Ý
{
unsigned char val;
unsigned char i;
val=0;
CS=0;
for(i=0;i<9;i++)
{
      CLK=1;
      delay(1);
      CLK=0;
      val<<=1;
      val|=DO;
}
CS=1;
delay(1);
return val;
}
void main(void)
{
unsigned char i,j;

IT0=1;
EX0=1;
TMOD=0X12;
TH0=256-70;
TL0=256-70;
ET0=1;
EA=1;
TR0=1;
TH1=(65536-50000)/256;
TL1=(65536-50000)%256;
ET1=1;
TR1=1;
P1=0x00;
DO=1;

PidInit(&motor_pid);

while(1)
{
      P1|=0x01;
      j++;
      if(j==100)
      {
         pot = AD0831_ReadChar();
         pot_data=(unsigned int)(((float)(pot)/256)*1000);
         j=0;
      }

      button=P3;
      button=button & 0x03;
      if(button!=0x03)
      {
         delay(10);
         button=P3;
         button=button & 0x03;
         if(button!=0x03)
         {
            if(button==0x02)
            {
                  button_set_data=button_set_data+100;
            }
            if(button==0x01)
            {
                  button_set_data=button_set_data-100;
            }
            if(button_set_data>1000)
                  button_set_data=1000;
            if(button_set_data<0)
                  button_set_data=0;

         }
         while(button!=0x03)
         {
            button=P3;
            button=button & 0x03;
         }
      }


      for(i=0;i<4;i++)
      {
         P0=seg_data[(speed/mod[i])%10];
         P2=bit_tab[i];
         delay(100);
         P2=0xff;
      }

      motor_pid.set_point=pot_data;
}
}
void timer0() interrupt 1
{
timer0_cnt++;
if(timer0_cnt==1000)
{
      timer0_cnt=0;
}
if(timer0_cnt<driver_data)
{
      ENA=1;
}
else
{
      ENA=0;
}
}
void int0() interrupt 0
{
motor_plus++;
}
void timer1() interrupt 3
{
TH1=(65536-50000)/256;
TL1=(65536-50000)%256;
timer2_cnt++;
if(timer2_cnt==10)
{
      timer2_cnt=0;

      speed=((float)(motor_plus)*(float)60)/(float)24.0;
      motor_plus=0;

      pid_val=PidCalculate(&motor_pid,speed);
      if(pid_val>1000)
         pid_val=1000;
      if(pid_val<0)
         pid_val=0;
      driver_data=(unsigned int)pid_val;
}

}