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#include<reg51.h>
#include "intrins.h"
#include <lcd.H>
#define uchar unsigned char
#define uint unsigned int
#define GPIO_KEY P2
sbit PWM=P1^4;
sbit P10=P1^0;
sbit P12=P1^2;
uchar speed1[4]={"0000"};//設(shè)定轉(zhuǎn)速
uchar speed2[3]={"000"};//占空比
uchar speed[]={"0000"};//當(dāng)前轉(zhuǎn)速
uchar KeyValue=0;
uint AA,count=0,flag;
float pid_p=0.003,pid_i=0.003,pid_d=0.002; //PID三個(gè)參數(shù) 初值
uint SpeedSet=3000,CurrentSpeed;//設(shè)定轉(zhuǎn)速當(dāng)前轉(zhuǎn)速
unsigned char pid_val_mid;//pid_val_mid脈沖寬度
unsigned int lastError=0;
long int sumError=0;//sum偏差和
void delay1(unsigned int i)
{
unsigned int j;
for(;i>0;i--)
for(j=0;j<333;j++)
{;}
}
/********************* 鍵盤掃描*************/
void KeyDown(void)
{
GPIO_KEY=0x0f;
delay1(10);
if(GPIO_KEY!=0x0f)
{
delay1(10);
if(GPIO_KEY!=0x0f)
{
//測(cè)試列
GPIO_KEY=0X0F;
delay1(10);
switch(GPIO_KEY)
{
case(0X07): KeyValue=0;break;
case(0X0b): KeyValue=1;break;
case(0X0d): KeyValue=2;break;
case(0X0e): KeyValue=3;break;
}
//測(cè)試行
GPIO_KEY=0XF0;
delay1(10);
switch(GPIO_KEY)
{
case(0X70): KeyValue=KeyValue;break;
case(0Xb0): KeyValue=KeyValue+4;break;
case(0Xd0): KeyValue=KeyValue+8;break;
case(0Xe0): KeyValue=KeyValue+12;break;
}
}
}
}
void timer()
{
TMOD=0x11;//定時(shí)器0工作方式1.16位，定時(shí)器1工作方式1,16位定時(shí)；
TH0=0x4b;//50ms初值
TL0=0xfe;
TH1=0xfc;//1msPWM控制
TL1=0x66;
TR1=1; //啟動(dòng)定時(shí)器1
ET1=1; //定時(shí)器1中斷使能
IT0=1;//外部中斷下降沿觸發(fā)
TR0=1; //定時(shí)器啟動(dòng)標(biāo)志
ET0=1; //定時(shí)器中斷使能
EX0=1; //外部中斷使能
EA=1; //全局中斷
}
/***********************lcd顯示*************/
void display()
{
speed[0]=CurrentSpeed/1000+0x30; //當(dāng)前轉(zhuǎn)速
speed[1]=CurrentSpeed/100%10+0x30;
speed[2]=CurrentSpeed/10%10+0x30;
speed[3]=CurrentSpeed%10+0x30;
speed1[0]=SpeedSet/1000+0x30;//設(shè)定轉(zhuǎn)速
speed1[1]=SpeedSet/100%10+0x30;
speed1[2]=SpeedSet/10%10+0x30;
speed1[3]=SpeedSet%10+0x30;
speed2[0]=pid_val_mid/100+0x30;
speed2[1]=pid_val_mid/10%10+0x30;//占空比
speed2[2]=pid_val_mid%10+0x30;
DispHanzi(0,0,5,"當(dāng)前轉(zhuǎn)速：");
DispZimu(0,5,4,speed);
DispHanzi(1,0,5,"設(shè)定轉(zhuǎn)速：");
DispZimu(1,5,4,speed1);
DispHanzi(3,0,4,"占空比：");//占空比
DispZimu(3,4,3,speed2);
DispHanzi(3,6,1,"%");//占空比
}
/************************電機(jī)控制*************/
void keyKZ()
{
if(KeyValue==4)//正轉(zhuǎn)
{
P10=1;
P12=0;
}
if(KeyValue==5)//反轉(zhuǎn)
{
P10=0;
P12=1;
}
if(KeyValue==6)//停車
{
P10=0;
P12=0;
}
if(KeyValue==12)//設(shè)定速度加50
SpeedSet+=50;
if(KeyValue==13)//設(shè)定速度減50
SpeedSet-=50;
if(KeyValue==14)//設(shè)定速度加1
SpeedSet+=1;
if(KeyValue==15)//設(shè)定速度減1
SpeedSet-=1;
KeyValue=0;
}
/************************PID控制算法*************/
unsigned int PID()
{
int dError=0,Error=0,B;
Error=SpeedSet-CurrentSpeed;//當(dāng)前誤差
sumError=Error+sumError;//誤差和
dError=Error-lastError;//誤差偏差
lastError=Error;
B=pid_p*Error+pid_i*sumError+pid_d*dError;
if(B>100) pid_val_mid=100;
if(B<0) pid_val_mid=0;
if(B>=0&&B<=100)
pid_val_mid=B;
return(0);
}
void Timer0_isr() interrupt 1 //定時(shí)器0中斷
{
AA++;
TH0=0x4b;
TL0=0xfe;
if(AA==20)
{
CurrentSpeed=count*3;//一分鐘的轉(zhuǎn)速
count=0;
AA=0;
PID();
}
}
void key_int() interrupt 0 //外部中斷P32口
{
count++;
}
void Timer1() interrupt 3
{
static int c=0;
TH1=0xfc;
TL1=0x66;
c++; //每次定時(shí)器溢出加1
if(c<=pid_val_mid) PWM=1;
if(c>pid_val_mid) PWM=0;
if(c>=100) c=0;
}
void main()
{
timer();//定時(shí)器初始化
InitLCD();//LCD初始化
while(1)
{
KeyDown(); //鍵盤掃描
keyKZ();//鍵盤控制
display();//顯示LCD
}
}

復(fù)制代碼

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