PID控制电机程序.doc

《PID控制电机程序.doc》由会员上传分享，免费在线阅读，更多相关内容在教育资源-天天文库。

1、AVR单片机PID控制电机程序2011-04-1020:53#include#include#include#includesfrwICR1=0x26;                                          //补充定义16位寄存器ICR1地址为0x26(mega16.h中未定义)                                 unsignedinticp_v1;unsignedinticp_v2;unsignedc

2、haricp_n;unsignedcharmax_icp;                            //量程定义字biticp_ok;bittime_4ms_ok;bitfreq_ok;bitbegin_m;                                             //定时器1溢出，重新测量标志字bitfull_ok;                                               //定时器1溢出longfv;structPID{    unsignedintSet

3、Point;                        //设定目标DesiredValue    unsignedintProportion;                    //比例常数ProportionalConst    unsignedintIntegral;                         //积分常数IntegralConst    unsignedintDerivative;                     //微分常数DerivativeConst    unsignedintLastE

4、rror;                      //Error[-1]    unsignedintPrevError;                     //Error[-2]    unsignedintSumError;                     //SumsofErrors }; structPIDspid;                                    //PIDControlStructurelongrout;                                   

5、          //PIDResponse(Output) longrin;                                               //PIDFeedback(Input)voidPID_Init(structPID*pp) {    memset(pp,0,sizeof(structPID));    //全部初始化为0}unsignedintPID_Calc(structPID*pp,unsignedintNextPoint) {    unsignedintdError,Error;    E

6、rror=pp->SetPoint-NextPoint;                 //偏差       pp->SumError+=Error;                               //积分       dError=pp->LastError-pp->PrevError;     //当前微分     pp->PrevError=pp->LastError;       pp->LastError=Error;    return(pp->Proportion*Error                  

7、 //比例项       +pp->Integral*pp->SumError                  //积分项    +pp->Derivative*dError);                         //微分项 }  //Timer2比较匹配中断服务，4ms定时interrupt[TIM2_COMP]voidtimer2_comp_isr(void)  {  #asm("sei")                         //开放全局中断,允许中断嵌套     time_4ms_ok=1;}//Time

8、r1溢出中断服务interrupt[TIM1_OVF]voidtimer1_ovf_isr(void){   full_ok=1;}//Timer1输入捕捉中断服务interru