模糊PID控制温控系统设计C语言程序代码VIP

/*模糊 PID 控制温控系统仿真设计 C 程序代码*/#include#define uchar unsigned char#define uint unsigned int#define PULSE 200#define number 0.035 sbit SDO = P20; sbit SDI = P21;sbit CS = P22;sbit CLK = P23;sbit EOC = P24;sbit RS = P25; sbit RW = P26;sbit EN = P27;sbit KEY1= P30;sbit KEY2= P31; sbit KEY3= P32;sbit KEY4= P33;sbit KEY5= P34; sbit IN1 = P35; sbit IN2 = P36;sbit ENA = P37;uchar flag; uchar flag_start;float S_temp=60.0; float P_temp=20.0; float Kp;float Ki;float Kd;float Err=0.0;float Last_Err=0.0;float D_Err=0.0;float Sum_Err=0.0;float U=0.0;/*函数功能：延时*/void delay_ms(uchar z)uchar i;uchar j;for(i=z;i0;i-)for(j=360;j0;j-); void delay_us(uchar z)uchar i;for(i=z;i0;i-);void LCD_WriteData(uchar Dat)RS = 1;P1 = Dat;delay_us(10);EN = 1;delay_us(10);EN = 0;void LCD_WriteCOM(uchar com) RS = 0;P1 = com;delay_us(10);EN = 1;delay_us(10);EN = 0;void Show_Num(uchar x,uchar y,uchar n,float num)uchar a3;uchar i;uint Temp;Temp=(int)num;for(i=0;i0;i-)LCD_WriteData(ai-1+0x30); void Show_Ki(uchar num_Ki)uchar Temp;num_Ki=Ki*100;Temp=(uchar)num_Ki;Show_Num(10,2,1,Temp%10);Temp=Temp/10;Show_Num(9,2,1,Temp%10); Temp=Temp/10;Show_Num(7,2,1,Temp);void Show_char(uchar x,uchar y,uchar ch)if(y%2 = 1)LCD_WriteCOM(0x80+x); elseLCD_WriteCOM(0x80+0x40+x);LCD_WriteData(ch); void LCD_Init(void)RW = 0;EN = 0;LCD_WriteCOM(0x38);LCD_WriteCOM(0x0c);LCD_WriteCOM(0x06);LCD_WriteCOM(0x01);/*函数功能：显示函数*/void LCD_display(void) Show_char(1,1,T);delay_us(10);Show_char(0,1,P); delay_us(10);Show_char(1,1,T);delay_us(10);Show_char(2,1,:);delay_us(10);Show_Num(3,1,3,P_temp);delay_us(10);Show_char(10,1,S); delay_us(10);Show_char(11,1,T);delay_us(10);Show_char(12,1,:);delay_us(10);Show_Num(13,1,3,S_temp); delay_us(10);Show_char(0,2,P); delay_us(10);Show_char(1,2,:);delay_us(10);Show_Num(2,2,2,Kp); delay_us(10);Show_char(5,2,I); delay_us(10);Show_char(6,2,:);delay_us(10);Show_char(8,2,.);delay_us(10);Show_Ki(Ki);delay_us(10);Show_char(12,2,D); delay_us(10);Show_char(13,2,:);delay_us(10);Show_Num(14,2,2,Kd);delay_us(10);/*函数功能：定时器 2 初始化*/void Timer2_Init()RCAP2H =(65536-300)/256;RCAP2L =(65536-300)%256;TH2 = RCAP2H;TL2 = RCAP2L;ET2 = 1;TR2 = 1;EA = 1;/*函数功能：键盘扫描，调整设置温度*/void key_scan(void)if(KEY1=0) delay_ms(1);if(KEY1=0)S_temp=S_temp+1;if(S_temp=200)S_temp=200;while(!KEY1);if(KEY2=0)delay_ms(1);if(KEY2=0)if(S_temp0)S_temp=S_temp-1;else if(S_temp=10)S_temp=S_temp-10;while(!KEY4);if(KEY5=0) delay_ms(1);if(KEY5=0)flag_start=1; while(!KEY5);/*函数功能：PID 的计算*/void PID_Calculate() Err = S_temp - P_temp;Sum_Err += Err;D_Err = Err - Last_Err; Last_Err = Err; U=Kp*Err+Ki*Sum_Err+Kd*D_Err; U=(int)U;if(U=0)if(U=200)U=200;flag=1; elseU=-U;if(U=200)U=200;flag=0; /*函数功能：PID 参数 Kp 的计算 */ float fuzzy_kp(float e, float ec) /e,ec，表示误差，误差变化率 float Kp_calcu;uchar num,pe,pec; float code eRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0; /误差 E 的模糊论域float code ecRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0; /误差变化率 EC 的模糊论域float eFuzzy2=0.0,0.0; /隶属于误差 E 的隶属程度float ecFuzzy2=0.0,0.0; /隶属于误差变化率 EC 的隶属程度float code kpRule4=0.0,8.0,16.0,24.0; /Kp 的模糊子集float KpFuzzy4=0.0,0.0,0.0,0.0; /隶属于 Kp 的隶属程度int code KpRule77= /Kp 的模糊控制表3,3,3,3,3,3,3,2,2,2,2,1,2,2,1,1,1,1,1,1,1,1,1,0,1,0,1,1,0,0,1,0,0,1,0,0,1,0,1,0,0,2,3,3,3,3,3,3,3; /*误差 E 隶属函数描述*/ if(eeRule0)eFuzzy0 =1.0; pe = 0;else if(eRule0=e pe = 0;else if(eRule1=e pe = 1;else if(eRule2=e pe = 2;else if(eRule3=e pe = 3;else if(eRule4=e pe = 4;else if(eRule5=e pe = 5;elseeFuzzy0 =0.0;pe =5;eFuzzy1 =1.0 - eFuzzy0;/*误差变化率 EC 隶属函数描述*/ if(ececRule0)ecFuzzy0 =1.0;pec = 0;else if(ecRule0=ec pec = 0 ;else if(ecRule1=ec pec = 1;else if(ecRule2=ec pec = 2 ;else if(ecRule3=ec pec=3;else if(ecRule4=ec pec=4;else if(ecRule5=ec pec=5;elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0; /*查询模糊规则表*/num =KpRulepepec;KpFuzzynum += eFuzzy0*ecFuzzy0;num =KpRulepepec+1;KpFuzzynum += eFuzzy0*ecFuzzy1;num =KpRulepe+1pec;KpFuzzynum += eFuzzy1*ecFuzzy0;num =KpRulepe+1pec+1;KpFuzzynum += eFuzzy1*ecFuzzy1;/*加权平均法解模糊*/ Kp_calcu=KpFuzzy0*kpRule0+KpFuzzy1*kpRule1+KpFuzzy2*kpRule2+KpFuzzy3*kpRule3;return(Kp_calcu);/*函数功能：PID 参数 Ki 的计算 */ float fuzzy_ki(float e, float ec) float Ki_calcu;uchar num,pe,pec;float code eRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0;float code ecRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0;float eFuzzy2=0.0,0.0;float ecFuzzy2=0.0,0.0; float code kiRule4=0.00,0.01,0.02,0.03; float KiFuzzy4=0.0,0.0,0.0,0.0;int code KiRule77= 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0