智能车制作

标题: 我写的PID跪求解决 [打印本页]

作者: 90后 时间: 2012-6-22 11:23
标题: 我写的PID跪求解决
我写的PID控制不起，跪求高手解决？？？、小弟感激不尽
int speed=0;
int s=0;
int s1=0;
void init_PACA()
{
PACTL=0x50;//PAEN=1为PAC3 PAC2级联/PAMOD=0 PEDGE=0上升沿计数/
TIOS_IOS7=0;//通道7作输入捕捉
PACNT=0x00;//寄存数据
}
void TIM_Init(void)
{
TSCR1=0x00; //禁止
TIOS=0x04;    //外部输入捕捉0,1通道，通道2输出比较
TCTL4=0x09;    //通道0 上升沿触发,通道1下降沿触发

TSCR2=0x07;    //128分频后为625KHZ  50ms
TC2=0xF424;    //31250
TIE=0x07;       //通道 0，1，2 中断使能
TSCR1=0x80; //使能
}
int pid(int Kp,int Kd,int s)
{
  // s 当前值
  //  s1  上次值
   DDRE=0xff;//点亮单片机上面2个灯
PORTE=~PORTE;
s=(s/Kp)+(s1-s)/Kd;
return s;
}
#pragma CODE_SEG __NEAR_SEG NON_BANKED
interrupt 10 void TIM(void)
{

speed=pid(5,5,PACNT);    // s 当前值
   s1=speed;                      //  s1  上次值
   if(speed>25){Dianji_data=12;}
   if(speed<-15){Dianji_data=-10;}
   Dianji_data=10+speed;

PACNT=0;    //寄存数据
TFLG1_C2F=1;  //请中断标志位
TC2=TCNT+0xF424;

}

作者: cqu_cj 时间: 2012-6-22 11:49
用PE的看到你们这样写的程序就真心难受！/*------------------------
功能说明：电机舵机PID模块
-----------------------*/
#include"PID.h"
#include "Cpu.h"
#include "Events.h"
#include "KONGZHIMOKUAI.h"

#define KP 0.5 //0.6
#define KI 0.06  //0.08
#define KD 0.04  //0.02

word idea_speed=500; //单位为cm/s
word real_speed=0; //单位为cm/s
int uk=0;       //u[k]
static int number=0;
int ek=0;    //偏差e[k]
static int ek1=0;    //偏差e[k-1]
static int ek2=0;    //偏差e[k-2]
static int uk1=0;    //对uk四舍五入
static int deltauk;
char flag1;
/*----------------------------------
测速模块初始化：cesuchushihua()
----------------------------------*/
void cesuchushihua(void)
{
setReg(TMRA2_CTRL,0);
setReg(TMRA2_SCR,0x00);
setReg(TMRA2_CNTR,0);
setReg(TMRA2_LOAD,0);
setRegBitGroup(TMRA2_CTRL,CM,0x01);
}

/*----------------------------------
测速模块：cesumokuai()
----------------------------------*/
void cesumokuai(void)
{
number=getReg(TMRA2_CNTR);
setReg(TMRA2_CNTR,0);
real_speed=(word)(0.94737*number);
}

/*----------------------------------
PID模块：dianjiPID()
----------------------------------*/
void dianjiPID(void)
{
deltauk=KP*(ek-ek1)+KI*(ek)+KD*(ek-2*ek1+ek2);
ek2=ek1;
ek1=ek;
uk=uk1+deltauk;
if(uk<-99)
uk=-99;
if(uk>99)
uk=99;
uk1=uk;
if(sc_flag==0)
{
if(uk<0)
{
uk=99+uk;
DIANJI_DIRECTION_IO1_SetVal();
DIANJI_PWM_SetDutyUS(uk);
}
else
{
DIANJI_DIRECTION_IO1_ClrVal();
DIANJI_PWM_SetDutyUS(uk);
}
}
else
{
sc_flag=sc_flag-1;
DIANJI_DIRECTION_IO1_SetVal();
DIANJI_PWM_SetDutyUS(60);
}
if(uk1<-95)
flag1++;
else
flag1=0;
if(flag1>4)
{
DIANJI_ENABLE_IO2_ClrVal();
}
}

作者: usstwhw 时间: 2012-6-22 16:33

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