模糊PID控制温控系统设计C语言程序代码.doc

/*模糊PID控制温控系统仿真设计C程序代码*/#include#define uchar unsigned char#define uint unsigned int#define PULSE 200#define number 0.035 sbit SDO = P20; sbit SDI = P21;sbit CS = P22;sbit CLK = P23;sbit EOC = P24;sbit RS = P25; sbit RW = P26;sbit EN = P27;sbit KEY1= P30;sbit KEY2= P31; sbit KEY3= P32;sbit KEY4= P33;sbit KEY5= P34; sbit IN1 = P35; sbit IN2 = P36;sbit ENA = P37;uchar flag; uchar flag_start;float S_temp=60.0; float P_temp=20.0; float Kp;float Ki;float Kd;float Err=0.0;float Last_Err=0.0;float D_Err=0.0;float Sum_Err=0.0;float U=0.0;/* 函数功能：延时*/void delay_ms(uchar z) uchar i; uchar j; for(i=z;i0;i-) for(j=360;j0;j-); void delay_us(uchar z) uchar i; for(i=z;i0;i-);void LCD_WriteData(uchar Dat) RS = 1; P1 = Dat; delay_us(10); EN = 1; delay_us(10); EN = 0;void LCD_WriteCOM(uchar com) RS = 0; P1 = com; delay_us(10); EN = 1; delay_us(10); EN = 0;void Show_Num(uchar x,uchar y,uchar n,float num) uchar a3; uchar i; uint Temp; Temp=(int)num; for(i=0;i0;i-) LCD_WriteData(ai-1+0x30); void Show_Ki(uchar num_Ki)uchar Temp;num_Ki=Ki*100;Temp=(uchar)num_Ki; Show_Num(10,2,1,Temp%10);Temp=Temp/10;Show_Num(9,2,1,Temp%10); Temp=Temp/10;Show_Num(7,2,1,Temp);void Show_char(uchar x,uchar y,uchar ch) if(y%2 = 1) LCD_WriteCOM(0x80+x); else LCD_WriteCOM(0x80+0x40+x); LCD_WriteData(ch); void LCD_Init(void) RW = 0; EN = 0; LCD_WriteCOM(0x38); LCD_WriteCOM(0x0c); LCD_WriteCOM(0x06); LCD_WriteCOM(0x01);/* 函数功能：显示函数*/void LCD_display(void) Show_char(1,1,T); delay_us(10); Show_char(0,1,P); delay_us(10); Show_char(1,1,T); delay_us(10); Show_char(2,1,:); delay_us(10); Show_Num(3,1,3,P_temp); delay_us(10); Show_char(10,1,S); delay_us(10); Show_char(11,1,T); delay_us(10); Show_char(12,1,:); delay_us(10); Show_Num(13,1,3,S_temp); delay_us(10); Show_char(0,2,P); delay_us(10); Show_char(1,2,:); delay_us(10); Show_Num(2,2,2,Kp); delay_us(10); Show_char(5,2,I); delay_us(10); Show_char(6,2,:); delay_us(10); Show_char(8,2,.); delay_us(10); Show_Ki(Ki); delay_us(10); Show_char(12,2,D); delay_us(10); Show_char(13,2,:); delay_us(10); Show_Num(14,2,2,Kd); delay_us(10);/* 函数功能：定时器2初始化*/void Timer2_Init() RCAP2H =(65536-300)/256; RCAP2L =(65536-300)%256; TH2 = RCAP2H; TL2 = RCAP2L; ET2 = 1; TR2 = 1; EA = 1;/* 函数功能：键盘扫描，调整设置温度*/void key_scan(void)if(KEY1=0) delay_ms(1);if(KEY1=0)S_temp=S_temp+1;if(S_temp=200)S_temp=200;while(!KEY1);if(KEY2=0)delay_ms(1);if(KEY2=0)if(S_temp0)S_temp=S_temp-1;else if(S_temp=0)S_temp=0;while(!KEY2);if(KEY3=0) delay_ms(1);if(KEY3=0)if(S_temp=10)S_temp=S_temp-10;while(!KEY4);if(KEY5=0) delay_ms(1);if(KEY5=0)flag_start=1; while(!KEY5);/* 函数功能：PID的计算*/void PID_Calculate() Err = S_temp - P_temp; Sum_Err += Err; D_Err = Err - Last_Err; Last_Err = Err; U=Kp*Err+Ki*Sum_Err+Kd*D_Err; U=(int)U; if(U=0) if(U=200)U=200;flag=1; else U=-U;if(U=200)U=200;flag=0; /* 函数功能：PID参数Kp的计算 */ float fuzzy_kp(float e, float ec)/e,ec，表示误差，误差变化率 float Kp_calcu;uchar num,pe,pec; float code eRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0; /误差E的模糊论域float code ecRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0; /误差变化率EC的模糊论域float eFuzzy2=0.0,0.0; /隶属于误差E的隶属程度float ecFuzzy2=0.0,0.0; /隶属于误差变化率EC的隶属程度float code kpRule4=0.0,8.0,16.0,24.0;/Kp的模糊子集float KpFuzzy4=0.0,0.0,0.0,0.0;/隶属于Kp的隶属程度int code KpRule77= /Kp的模糊控制表3,3,3,3,3,3,3,2,2,2,2,1,2,2,1,1,1,1,1,1,1,1,1,0,1,0,1,1,0,0,1,0,0,1,0,0,1,0,1,0,0,2,3,3,3,3,3,3,3; /*误差E隶属函数描述*/ if(eeRule0)eFuzzy0 =1.0; pe = 0;else if(eRule0=e & eeRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0);pe = 0;else if(eRule1=e & eeRule2)eFuzzy0 = (eRule2 -e)/(eRule2-eRule1);pe = 1;else if(eRule2=e & eeRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2);pe = 2; else if(eRule3=e & eeRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3; else if(eRule4=e & eeRule5)eFuzzy0 = (eRule5-e)/(eRule5-eRule4);pe = 4;else if(eRule5=e & eeRule6)eFuzzy0 = (eRule6-e)/(eRule6-eRule5);pe = 5;elseeFuzzy0 =0.0;pe =5; eFuzzy1 =1.0 - eFuzzy0;/*误差变化率EC隶属函数描述*/ if(ececRule0)ecFuzzy0 =1.0;pec = 0;else if(ecRule0=ec & ececRule1)ecFuzzy0 = (ecRule1 - ec)/(ecRule1-ecRule0);pec = 0 ;else if(ecRule1=ec & ececRule2)ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1);pec = 1;else if(ecRule2=ec & ececRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2);pec = 2 ; else if(ecRule3=ec & ececRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); pec=3; else if(ecRule4=ec & ececRule5) ecFuzzy0 = (ecRule5-ec)/(ecRule5-ecRule4); pec=4; else if(ecRule5=ec & ececRule6) ecFuzzy0 = (ecRule6-ec)/(ecRule6-ecRule5); pec=5; elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0; /*查询模糊规则表*/num =KpRulepepec;KpFuzzynum += eFuzzy0*ecFuzzy0;num =KpRulepepec+1;KpFuzzynum += eFuzzy0*ecFuzzy1;num =KpRulepe+1pec;KpFuzzynum += eFuzzy1*ecFuzzy0;num =KpRulepe+1pec+1;KpFuzzynum += eFuzzy1*ecFuzzy1;/*加权平均法解模糊*/ Kp_calcu=KpFuzzy0*kpRule0+KpFuzzy1*kpRule1+KpFuzzy2*kpRule2+KpFuzzy3*kpRule3;return(Kp_calcu);/* 函数功能：PID参数Ki的计算 */ float fuzzy_ki(float e, float ec) float Ki_calcu;uchar num,pe,pec;float code eRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0;float code ecRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0;float eFuzzy2=0.0,0.0;float ecFuzzy2=0.0,0.0; float code kiRule4=0.00,0.01,0.02,0.03; float KiFuzzy4=0.0,0.0,0.0,0.0;int code KiRule77= 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0,0,1,3,3,3,3,3,3,3; /*误差隶属函数描述*/if(eeRule0)eFuzzy0 =1.0; pe = 0;else if(eRule0=e & eeRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0);pe = 0;else if(eRule1=e & eeRule2)eFuzzy0 = (eRule2 -e)/(eRule2-eRule1);pe = 1;else if(eRule2=e & eeRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2);pe = 2; else if(eRule3=e & eeRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3; else if(eRule4=e & eeRule5)eFuzzy0 = (eRule5-e)/(eRule5-eRule4);pe = 4;else if(eRule5=e & eeRule6)eFuzzy0 = (eRule6-e)/(eRule6-eRule5);pe = 5;elseeFuzzy0 =0.0;pe =5; eFuzzy1 =1.0 - eFuzzy0;/*误差变化隶属函数描述*/ if(ececRule0)ecFuzzy0 =1.0;pec = 0;else if(ecRule0=ec & ececRule1)ecFuzzy0 = (ecRule1 - ec)/(ecRule1-ecRule0);pec = 0 ;else if(ecRule1=ec & ececRule2)ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1);pec = 1;else if(ecRule2=ec & ececRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2);pec = 2 ; else if(ecRule3=ec & ececRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); pec=3; else if(ecRule4=ec & ececRule5) ecFuzzy0 = (ecRule5-ec)/(ecRule5-ecRule4); pec=4; else if(ecRule5=ec & ececRule6) ecFuzzy0 = (ecRule6-ec)/(ecRule6-ecRule5); pec=5; elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0; /*查询模糊规则表*/num =KiRulepepec;KiFuzzynum += eFuzzy0*ecFuzzy0;num =KiRulepepec+1;KiFuzzynum += eFuzzy0*ecFuzzy1;num =KiRulepe+1pec;KiFuzzynum += eFuzzy1*ecFuzzy0;num =KiRulepe+1pec+1;KiFuzzynum += eFuzzy1*ecFuzzy1;/*加权平均法解模糊*/ Ki_calcu=KiFuzzy0*kiRule0+KiFuzzy1*kiRule1+KiFuzzy2*kiRule2+KiFuzzy3*kiRule3; return(Ki_calcu);/* 函数功能：PID参数Kd的计算 */ float fuzzy_kd(float e, float ec) float Kd_calcu;uchar num,pe,pec; float code eRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0;float code ecRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0;float eFuzzy2=0.0,0.0;float ecFuzzy2=0.0,0.0; float code kdRule4=0.0,1.0,2.0,3.0;float KdFuzzy4=0.0,0.0,0.0,0.0;int code KdRule77=3,3,3,2,2,2,2,2,2,2,1,1,1,1,1,1,2,1,1,2,1,1,1,0,1,0,1,1,1,1,0,0,0,1,1,2,2,1,0 ,1,1,1,3,3,3,3,2,3,2; /*误差隶属函数描述*/if(eeRule0)eFuzzy0 =1.0; pe = 0;else if(eRule0=e & eeRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0);pe = 0;else if(eRule1=e & eeRule2)eFuzzy0 = (eRule2 -e)/(eRule2-eRule1);pe = 1;else if(eRule2=e & eeRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2);pe = 2; else if(eRule3=e & eeRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3; else if(eRule4=e & eeRule5)eFuzzy0 = (eRule5-e)/(eRule5-eRule4);pe = 4;else if(eRule5=e & eeRule6)eFuzzy0 = (eRule6-e)/(eRule6-eRule5);pe = 5;elseeFuzzy0 =0.0;pe =5; eFuzzy1 =1.0 - eFuzzy0; /*误差变化隶属函数描述*/ if(ececRule0)ecFuzzy0 =1.0;pec = 0;else if(ecRule0=ec & ececRule1)ecFuzzy0 = (ecRule1 - ec)/(ecRule1-ecRule0);pec = 0 ;else if(ecRule1=ec & ececRule2)ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1);pec = 1;else if(ecRule2=ec & ececRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2);pec = 2 ; else if(ecRule3=ec & ececRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); pec=3; else if(ecRule4=ec & ececRule5) ecFuzzy0 = (ecRule5-ec)/(ecRule5-ecRule4); pec=4; else if(ecRule5=ec & ececRule6) ecFuzzy0 = (ecRule6-ec)/(ecRule6-ecRule5); pec=5; elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0; /*查询模糊规则表*/num =KdRulepepec;KdFuzzynum += eFuzzy0*ecFuzzy0;num =KdRulepepec+1;KdFuzzynum += eFuzzy0*ecFuzzy1;num =KdRulepe+1pec;KdFuzzynum += eFuzzy1*ecFuzzy0;num =KdRulepe+1pec+1;KdFuzzynum += eFuzzy1*ecFuzzy1;/*加权平均法解模糊*/ Kd_calcu=KdFuzzy0*kdRule0+KdFuzzy1*kdRule1+KdFuzzy2*kdRule2+KdFuzzy3*kdRule3; return(Kd_calcu);/*函数功能：AD将采集到的温度进行转化*/uint read_tlc2543(uchar port) static uchar PORT = 0; uchar Temp,i,k=0; uint AD_value=0; Temp = port; CS = 1; CLK = 0; Temp=4; CS = 0; while(1) for(i=0;i8;i+) CLK = 0; if(Temp&0x80) SDI = 1; else SDI = 0;AD_value=1; if(SDO) AD_value |= 0x01; CLK = 1; Temp=1; for(i=8;i12;i+) CLK = 0; AD_value=1; if(SDO) AD_value |= 0x01; delay_us(10); CLK = 1; CLK = 0; CS = 1; if(PORT = port) break; else Temp = port; Temp2) PORT = port; return AD_value;float AD_deal(void) uint AD_value; float temp; AD_value = read_tlc2543(0x00); temp = AD_value*number; return temp;/*主函数*/void main(void) uchar AD_value=0; flag=0; flag_start=0; ENA=1; IN1=0; IN2=0; LCD_Init(); LCD_display(); Timer2_Init(); while(1) if(flag_start=0)key_scan();Show_Num(13,1,3,S_temp);Show_Num(3,1,3,P_temp);else if(flag_start=1)P_temp=AD_deal();Show_Num(3,1,3,P_temp);