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#include "./pid/pid.h"
#include "./led/bsp_led.h"
#include "./GeneralTim/bsp_GeneralTim.h"
PID pid; //存放PID算法所需要的數據
uint16_t pw;
uint16_t save_buff[9000] = {0}; //保存數據緩存
extern volatile uint16_t Step_Auto;
extern volatile uint32_t PID_cool_cnt;
extern volatile uint32_t PID_heat_cnt;
extern volatile uint16_t pid_self_first_status_flag; //標志位
extern volatile uint16_t PID_Deal,PID_auto_Deal;
extern volatile uint16_t zero_across_counter;
extern volatile uint16_t k_pid_self_counter;
extern volatile uint16_t CCR4_Val;
extern volatile uint16_t kkk;
void PID_Calc() //pid計算
{
float DelEk;
float out;
if (PID_Deal == 1)
{
pid.Ek=pid.Sv-pid.Pv; //得到當前的偏差值
pid.SEk+=pid.Ek; //歷史偏差總和
DelEk=pid.Ek-pid.Ek_1; //最近兩次偏差之差
pid.Pout=pid.Kp*pid.Ek; //比例輸出
pid.Iout=pid.Ki*pid.SEk; //積分輸出
pid.Dout=pid.Kd*DelEk; //微分輸出
out= pid.Pout+ pid.Iout+ pid.Dout;
kkk++;
if(out>255)
{
kkk=0;
pid.SEk=0;
}
if(out>255)
{
pid.OUT=255;
}
else if(out<0)
{
pid.OUT=0;
}
else
{
pid.OUT=out;
}
pid.Ek_1=pid.Ek; //更新偏差
// printf ( "\r\n%.1f\r\n",out);
PID_out();
}
}
void PID_out() //輸出PID運算結果到負載---每1ms被調用1次
{
uint16_t kk;
if (pid.Pv>pid.Sv)//當前溫度大于用戶設定溫度
{
CCR4_Val=100;
GENERAL_TIM_Init();
}
else
{
kk=100-pid.OUT*100/255;
CCR4_Val=kk;
GENERAL_TIM_Init();
// printf ( "\r\n%3d\r\n",kk);
}
}
void PID_auto()//繼電器反饋法自整定pid參數
{
uint8_t i = 0;
float KC = 0;
float TC = 0;
float V_temp = 0,min_temp = 0,max_temp = 0;
float TIME_Hight=0,TIME_LOW=0;
//第一步進入比較初始溫度確定此時溫度處于哪種情況
if (PID_auto_Deal== 0)
{
/******************************************************************************************************/
PID_Deal = 0;//退出pid
//程序第一次進入查看對比當前溫度和設定溫度
if(pid.Pv < pid.Sv1)//當前溫度低于設定溫度
{
PID_heat_cnt++; //熱
PID_cool_cnt = 0;
if(PID_heat_cnt >= 3)//連續3次結果
{
CCR4_Val=0;//加熱
GENERAL_TIM_Init();
if(Step_Auto == 0)
{
Step_Auto = 1;
zero_across_counter++;
// printf ( "\r\n1");
}
}
}
else//當前溫度大于設定溫度停止加熱
{
PID_cool_cnt++;
PID_heat_cnt = 0;
if(PID_cool_cnt > 3)
{
CCR4_Val=100; //不加熱
GENERAL_TIM_Init();
if(Step_Auto == 1) //設定溫度高于當前溫度
{
Step_Auto = 0;
zero_across_counter++;
}
}
}
if(PID_heat_cnt >= 65535)//連續3次結果
{
PID_heat_cnt=65535;
}
if(PID_cool_cnt >= 65534)//連續3次結果
{
PID_cool_cnt=65534;
}
/*****************開始計算強行振蕩的周期和幅值****************************/
if((zero_across_counter == 3 ) || (zero_across_counter == 4 ))
{
save_buff[k_pid_self_counter] = pid.Pv;
k_pid_self_counter++;
if(k_pid_self_counter >=9000)
{
k_pid_self_counter = 0;
}
}
else if(zero_across_counter == 5 )//5次過0 則說明出現了振蕩整定成功
{
PID_Deal = 1;
PID_auto_Deal = 1;
zero_across_counter = 0;
max_temp=save_buff[0];
min_temp=save_buff[0];
for(i = 0;i < k_pid_self_counter;i++)
{
if(save_buff[i] >= max_temp)
{
max_temp = save_buff[i];
TIME_LOW=i;
}
if(save_buff[i] <= min_temp)
{
min_temp = save_buff[i];
TIME_Hight=i;
}
}
V_temp = max_temp - min_temp; //最大減最小就是幅值
KC = 127/V_temp;
//如果記錄了最低溫度與最高溫度對應的時間那么沿用這個公式：TC = 2 * (TIME_Hight - TIME_LOW);
TC = k_pid_self_counter; //TC =2 * (TIME_Hight - TIME_LOW);
pid.Kp = 0.6*KC;
pid.Ki = (0.6*KC)/(0.5*TC)/10;
pid.Kd = (0.6*KC)*(0.125*TC)/60;
printf ( "\r\n整定成功");
}
}
}

復制代碼