51单片机PID控制垂直风力摆设置角度

#include                

#include "i2c.h"

#include "delay.h"

#include "display.h"

#include "math.h"

#define uchar unsigned char

#define uint unsigned int

#define AddWr 0x90   //写数据地址

#define AddRd 0x91   //读数据地址

void timer0_init();  //定时器0初始化

void motor_run();

void control();

uchar time;

uint motor_pwm;

double count=0; //定义占空比，并初始占空比为26%

sbit PWM=P2^3;      

sbit Motor_CW=P2^4;

sbit Motor_CCW=P2^5;

float angleset=50;

float angel;

uint nowerror;

long sumerror;

uint lasterror;

float output;

float kp=0.56,ki=0.008,kd=1;

extern bit ack;

bit flag;

//bit WriteDAC(unsigned char dat);

/*------------------------------------------------

              主程序

------------------------------------------------*/

uchar ReadADC(uchar Chl)

{

  uchar val;

  Start_I2c();

SendByte(AddWr);

if(ack==0)return (0);

SendByte(Chl);

if(ack==0)return (0);

  Start_I2c();

SendByte(AddRd);

if(ack==0)return (0);

val=RcvByte();

NoAck_I2c();

Stop_I2c();

return(val);

}

void motor_run(uint pwm)

{

if(time{

   PWM=1;

}else

{

   PWM=0;

}

if(time>100)

{

   time=0;

  flag=1;

}

}

/****************************pid*****************************/

void timer0_init()

{

  TMOD=0x01; //定时器0工作于方式1

  TH0=(65536-100)/256;

  TL0=(65536-100)%256;

  TR0=1;

  ET0=1;

  EA=1;

}

/**************定时0中断处理******************/

void timer0_int() interrupt 1

{

  TR0=0;    //设置定时器初值期间，关闭定时器

  TH0=(65536-100)/256;

  TL0=(65536-100)%256;

  TR0=1;

  time++;

motor_run(motor_pwm);

}

uint XIANFU_Pwm(uint pwm)

{

  if ( pwm <0) pwm = 0;

  if (pwm>=100)  pwm= 100;

return pwm;

}

float PID_Control(float angleset,float angel)

{

angel=ReadADC(0x40);

  nowerror=angleset-angel;//当前误差

  sumerror+=nowerror;   //误差求和

  if(sumerror>2500)

  sumerror=2500;//限幅

  output = kp*nowerror+ki*sumerror+kd*(lasterror-nowerror);

  lasterror=nowerror;

  return output;//增量输出

}

void control()

{

motor_pwm=(uint) PID_Control(angleset,angel);

motor_pwm= XIANFU_Pwm(motor_pwm);

//motor_run(motor_pwm);

}

main()

{

float angleAD;   

Motor_CW=0;        //电机正反转   

Motor_CCW=1;

        timer0_init();

        while(1)

        {

                if(flag==1)

        {

                    flag=0;

           control();

        }

                angleAD = ReadADC(0x40);     //绝对角度数字值AD值

               display(angleAD);

             //WriteDAC(angleAD);

        }

}