28333_TMS320F28335_PID调节.doc

Q/ES041-2011/*/#include Task_Global_h.h/*/extern void AdcComputer_HighSpeed(void);extern void WaveRecorder(void);/* 准备录波数据 */ #pragma CODE_SECTION(PIDInitCtrl,.UserProgramCode)void PIDInitCtrl(void)Sys.PID.Ukn_0 = 4000000;Sys.PID.Ukn_1 = 4000000;Sys.PID.Ukn_2 = 4000000;Sys.PID.Ien_0 = 0;Sys.PID.Ien_1 = 0;Sys.PID.Ien_2 = 0;Sys.PID.Uk = 4000;OS_ENTER_CRITICAL();Sys.EnF0Reg.bit.PWM_Enable = OFF;OS_EXIT_CRITICAL();/*/PID输出到PWM最后输出的转换 /*/#pragma CODE_SECTION(Transition,.UserProgramCode)void Transition(int16 Uk)int32 Temp;Uint16 Temp1, Temp2;if(Uk UkMax)Uk = UkMax;if(Uk 1) - 125;Temp2 = (Uint16)(Temp * Sys.PWMCon.PR) / 20000);if(Temp2 Temp1)Temp2 = Temp1;Sys.PID.Uc = Temp2;/*/PID 参变量求值 /*/#pragma CODE_SECTION(PID_Par,.UserProgramCode)void PID_Par(int32 Kp, int32 Ti, int32 Td)int32 Ts; / 时间常数Ts = 50; / 运算周期 50 usSys.PID.A = (Ts * Ts) + (Td * Ti) + (Ts * Ti);Sys.PID.B = (Ts * Ts) - (Td * Ti) 8500000)Temp = 8500000;if(Temp 500000)Temp = 500000;Sys.PID.Uk = (int16)(Temp / 1000);/*/差分增量算法， 适合于小电流 /*/#pragma CODE_SECTION(InvariablenesCurrentLC,.UserProgramCode)void InvariablenesCurrentLC(void)int32 Kp, Ki, Kd;/ 放大1000 倍 int32 DUk;int32 Ukp, Uki, Ukd;Sys.PID.Ukn_2 = Sys.PID.Ukn_1;Sys.PID.Ukn_1 = Sys.PID.Ukn_0;Sys.PID.Ien_2 = Sys.PID.Ien_1;Sys.PID.Ien_1 = Sys.PID.Ien_0;Sys.PID.Ien_0 = Sys.PID.If;#ifdefMaxCurrent_500Kp = 15000;Ki = 40;Kd = 300;#endif#ifdefMaxCurrent_1000Kp = 15000;Ki = 40;Kd = 300;#endif#ifdefMaxCurrent_1500Kp = 15000;Ki = 40;Kd = 300;#endifUkp = Kp * (Sys.PID.Ien_0 - Sys.PID.Ien_1);Uki = Ki * Sys.PID.Ien_0;Ukd = Kd * (Sys.PID.Ien_0 + Sys.PID.Ien_2 - (Sys.PID.Ien_1 8500000)Sys.PID.Ukn_0 = 8500000;if(Sys.PID.Ukn_0 500000)Sys.PID.Ukn_0 = 500000;Sys.PID.Uk = (int16)(Sys.PID.Ukn_0 / 1000);/*/* /*/#pragma CODE_SECTION(Control_Code,.UserProgramCode)void Control_Code (void)AdcComputer_HighSpeed();#ifdefMaxCurrent_500Sys.PID.If = Sys.Given.Ig * 20;Sys.PID.If -= Sys.Simulate.If * 2; / 500 A 额定#endif#ifdefMaxCurrent_1000Sys.PID.If = Sys.Given.Ig * 10;Sys.PID.If -= Sys.Simulate.If; / 1000 A 额定#endif#ifdefMaxCurrent_1500Sys.PID.If = (Sys.Given.Ig * 20 ) / 3);Sys.PID.If -= (Sys.Simulate.If * 2) / 3); / 1500 A 额定#endifif(Sys.EnF2Reg.bit.PID = 0)InvariablenesCurrentLC();elseInvariablenesCurrent();if(Sys.Timer.CFD = 0) / 电流速降保护&(Sys.EnF1Reg.bit.WeldingState = 2)if(Sys.PID.If - 180)Sys.EnF1Reg.bit.CFDGoing = 0;elseSys.EnF1