PWM直流电机调速
*******************************************************************/
/* 程序名：PWM直流电机调速 */
/* 晶振：11.00592 MHz CPU型号：AT89C51 */
/* 直流电机的PWM波控制，可以直接的调速从0到20级的调速 */
/*****************************************************************/
#include<reg51.h>
#define TH0_TL0 (65536-1000)//设定中断的间隔时长
unsigned char count0 = 50;//低电平的占空比
unsigned char count1 = 0;//高电平的占空比
bit Flag = 1;//电机正反转标志位,1正转，0反转
sbit Key_add=P2 ^ 0; //电机减速
sbit Key_dec=P2 ^ 1; //电机加速
sbit Key_turn=P2 ^ 2; //电机换向
sbit PWM1=P2^6;//PWM 通道 1，反转脉冲
sbit PWM2=P2^7;//PWM 通道 2，正转脉冲
unsigned char Time_delay;
/************函数声明**************/
void Delay(unsigned char x);
void Motor_speed_high(void);
void Motor_speed_low(void);
void Motor_turn(void);
void Timer0_init(void);
/****************延时处理**********************/
void Delay(unsigned char x)
{
Time_delay = x;
while(Time_delay ！= 0);//等待中断，可减少PWM输出时间间隔
}
/*******按键处理加pwm占空比，电机加速**********/
void Motor_speed_high(void)//
{
if(Key_add==0)
{
Delay(10);
if(Key_add==0)
{
count0 += 5;
if(count0 >= 100)
{
count0 = 100;
}
}
while(！Key_add);//等待键松开
}
}
/******按键处理减pwm占空比，电机减速*****/
void Motor_speed_low(void)
{
if(Key_dec==0)
{
Delay(10);
if(Key_dec==0)
{
count0 -= 5;
if(count0 <= 0)
{
count0 = 0;
}
}
while(！Key_dec );
}
}
/************电机正反向控制**************/
void Motor_turn(void)
{
if(Key_turn == 0)
{
Delay(10);
if(Key_turn == 0)
{
Flag = ~Flag;
}
while(！Key_turn);
}
}
/***********定时器0初始化***********/
void Timer0_init(void)
{
TMOD=0x01; //定时器0工作于方式1
TH0=TH0_TL0/256;
TL0=TH0_TL0%256;
TR0=1;
ET0=1;
EA=1;
}
/*********主函数********************/
void main(void)
{
Timer0_init();
while(1)
{
Motor_turn();
Motor_speed_high();
Motor_speed_low();
}
}
/**************定时0中断处理******************/
void Timer0_int(void) interrupt 1 using 1
{
TR0 = 0;//设置定时器初值期间，关闭定时器
TL0 = TH0_TL0 % 256;
TH0 = TH0_TL0 / 256 ;//定时器装初值
TR0 = 1;
if(Time_delay ！= 0)//延时函数用
{
Time_delay--;
}
if(Flag == 1)//电机正转
{
PWM1 = 0;
if(++count1 < count0)
{
PWM2 = 1;
}
else
PWM2 = 0;
if(count1 >= 100)
{
count1=0;
}
}
else //电机反转
{
PWM2 = 0;
if(++count1 < count0)
{
PWM1 = 1;
}
else
PWM1 = 0;
if(count1 >= 100)
{
count1=0;
}
}
}
//-----------------------------------------------------------------------------
#include <c8051f330.h> // SFR declarations
#include <math.h>
// Function Prototypes
//-----------------------------------------------------------------------------
#define CMD_RESET 0xA4 //HD7279复位
#define DECODE1 0xc8 //方式0译码
sbit cs=P1^3;
sbit clk=P1^2;
sbit dat=P1^1;
sbit key=P1^0;
sbit led_D1003=P0^7;
sbit sw1=P1^7;
sbit sw2=P1^6;
sbit sw3=P1^5;
sbit sw4=P1^4;
void long_delay(void); //延时函数
void short_delay(void);
void delay10ms(unsigned char);
void write7279(unsigned char,unsigned char); //HD7279写指令
void send_byte(unsigned char);
void delay(unsigned char);
void disp1(unsigned int);
void OSCILLATOR_Init (void);
void PORT_Init (void);
void PCA0_Init (void);
void Timer0_Init(void);
void Ext_Interrupt_Init (void);
//-----------------------------------------------------------------------------
// Global Variables
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// main() Routine
//-----------------------------------------------------------------------------
unsigned int CEX0_Compare_Value; // Holds current PCA compare value
unsigned int tmr,Speed_evaluate;
unsigned char num,num1,num2,num3,a;
unsigned int Speed,pi,Speed2;
unsigned int Speed1[10];
typedef struct {
double SetPoint; /* 设定目标Desired Value */
double Proportion; /* 比例常数Proportional Const */
double Integral; /* 积分常数Integral Const */
double Derivative; /* 微分常数 Derivative Const */
double LastError; /* 前一项误差*/
double PrevError; /* 前第二项误差*/
double SumError; /* 误差和*/
} PID;
double PIDCalc( PID *pp, double NextPoint )
{
double dError,Error,Pout;
Error = pp->SetPoint - NextPoint; /* ? */
pp->SumError += Error; /* ?/
dError = pp->LastError - pp->PrevError; /* ? */
pp->PrevError = pp->LastError;
pp->LastError = Error; /* ? */
Pout= pp->Proportion * Error + pp->Integral * pp->SumError + pp->Derivative * dError ;
if(Pout>1100)
Pout=1000;
if(Pout<100)
Pout=100;
return (Pout);
}
PID sPID; //定义PID结构体变量
double rOut; //PID响应输出
unsigned char rIn; //设置PID反馈值
double x;
double sumout;
unsigned char dd;
//设置PID输出
void main (void)
{
sPID.Proportion = 0.44; //设置P
sPID.Integral = 0.70; //设置I
sPID.Derivative = 0.0; //设置D
//sPID.SetPoint = CEX0_Compare_Value;
//sPID.SetPoint = CEX0_Compare_Value; //设置PID输出
PCA0MD = 0x00; // Disable watchdog timer
led_D1003=0;
PORT_Init (); // Initialize crossbar and GPIO
OSCILLATOR_Init (); // Initialize oscillator
PCA0_Init (); // Initialize PCA0
IP=0x82; //定时器中断0高于外部中断0
Timer0_Init();
Ext_Interrupt_Init ();
for (tmr=0;tmr<0x2000;tmr++);
send_byte(CMD_RESET);//HD7279复位// Globally enable interrupts
EA = 1;
sPID.SetPoint=70;
while (1)
{
delay10ms(100);
//键盘程序 -------------------------------------------------------------
if(sw1==0) //按键1是否按下
{
if(sw1==0)//再次检查按键
{
num++; //若按键按下，num加1
if(num==1) //到9归0
{
num=0;
}
while(sw1==0);//按键释放
}
// delay10ms(100);
}
write7279(DECODE1+4,num); //将num写入HD7279第1位
delay10ms(1);
if(sw2==0)
{
if(sw2==0)
{
num1++;
if(num1==2)
{
num1=0;
}
while(！sw2);
}
// delay10ms(100);
}