模糊PID控制温控系统设计C语言程序代码

精品文档 1欢迎下载 模糊模糊 PIDPID 控制温控系统仿真设计控制温控系统仿真设计 C C 程序代码程序代码 include define uchar unsigned char define uint unsigned int define PULSE 200 define number 0 035 sbit SDO P2 0 sbit SDI P2 1 sbit CS P2 2 sbit CLK P2 3 sbit EOC P2 4 sbit RS P2 5 sbit RW P2 6 sbit EN P2 7 sbit KEY1 P3 0 sbit KEY2 P3 1 sbit KEY3 P3 2 sbit KEY4 P3 3 sbit KEY5 P3 4 sbit IN1 P3 5 sbit IN2 P3 6 sbit ENA P3 7 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 精品文档 2欢迎下载 uchar i uchar j for i z i 0 i for j 360 j 0 j void delay us uchar z uchar i for i z i 0 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 a 3 uchar i uint Temp Temp int num for i 0 i0 i LCD WriteData a i 1 0 x30 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 0 x80 x else LCD WriteCOM 0 x80 0 x40 x LCD WriteData ch void LCD Init void RW 0 EN 0 LCD WriteCOM 0 x38 LCD WriteCOM 0 x0c LCD WriteCOM 0 x06 LCD WriteCOM 0 x01 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 精品文档 4欢迎下载 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 精品文档 5欢迎下载 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 temp 0 S temp S temp 1 else if S temp 0 S temp 0 while KEY2 if KEY3 0 delay ms 1 if KEY3 0 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 else U U if U 200 U 200 flag 0 精品文档 7欢迎下载 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 eRule 7 3 0 2 0 1 0 0 0 1 0 2 0 3 0 误差 E 的模糊论域 float code ecRule 7 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 eFuzzy 2 0 0 0 0 隶属于误差 E 的隶属程 度 float ecFuzzy 2 0 0 0 0 隶属于误差变化率 EC 的隶 属程度 float code kpRule 4 0 0 8 0 16 0 24 0 Kp 的模糊子集 float KpFuzzy 4 0 0 0 0 0 0 0 0 隶属于 Kp 的隶 属程度 int code KpRule 7 7 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 e eRule 0 eFuzzy 0 1 0 pe 0 else if eRule 0 e pe 0 else if eRule 1 e pe 1 else if eRule 2 e pe 2 else if eRule 3 e pe 3 else if eRule 4 e pe 4 else if eRule 5 e pe 5 else eFuzzy 0 0 0 pe 5 eFuzzy 1 1 0 eFuzzy 0 误差变化率 EC 隶属函数描述 if ec ecRule 0 ecFuzzy 0 1 0 pec 0 else if ecRule 0 ec pec 0 else if ecRule 1 ec pec 1 精品文档 9欢迎下载 else if ecRule 2 ec pec 2 else if ecRule 3 ec pec 3 else if ecRule 4 ec pec 4 else if ecRule 5 ec pec 5 else ecFuzzy 0 0 0 pec 5 ecFuzzy 1 1 0 ecFuzzy 0 查询模糊规则表 num KpRule pe pec KpFuzzy num eFuzzy 0 ecFuzzy 0 num KpRule pe pec 1 KpFuzzy num eFuzzy 0 ecFuzzy 1 num KpRule pe 1 pec KpFuzzy num eFuzzy 1 ecFuzzy 0 num KpRule pe 1 pec 1 KpFuzzy num eFuzzy 1 ecFuzzy 1 加权平均法解模糊 Kp calcu KpFuzzy 0 kpRule 0 KpFuzzy 1 kpRule 1 KpFuzzy 2 kpRule 2 KpFuzzy 3 kpRule 3 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 精品文档 10欢迎下载 float code eRule 7 3 0 2 0 1 0 0 0 1 0 2 0 3 0 float code ecRule 7 3 0 2 0 1 0 0 0 1 0 2 0 3 0 float eFuzzy 2 0 0 0 0 float ecFuzzy 2 0 0 0 0 float code kiRule 4 0 00 0 01 0 02 0 03 float KiFuzzy 4 0 0 0 0 0 0 0 0 int code KiRule 7 7 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 0 0 0 0 0 0 0 0 0 0 2 0 0 0 0 0 1 3 3 3 3 3 3 3 误差隶属函数描述 if e eRule 0 eFuzzy 0 1 0 pe 0 else if eRule 0 e pe 0 else if eRule 1 e pe 1 else if eRule 2 e pe 2 else if eRule 3 e pe 3 else if eRule 4 e 精品文档 11欢迎下载 pe 4 else if eRule 5 e pe 5 else eFuzzy 0 0 0 pe 5 eFuzzy 1 1 0 eFuzzy 0 误差变化隶属函数描述 if ec ecRule 0 ecFuzzy 0 1 0 pec 0 else if ecRule 0 ec pec 0 else if ecRule 1 ec pec 1 else if ecRule 2 ec pec 2 else if ecRule 3 ec pec 3 else if ecRule 4 ec pec 4 else if ecRule 5 ec 精品文档 12欢迎下载 pec 5 else ecFuzzy 0 0 0 pec 5 ecFuzzy 1 1 0 ecFuzzy 0 查询模糊规则表 num KiRule pe pec KiFuzzy num eFuzzy 0 ecFuzzy 0 num KiRule pe pec 1 KiFuzzy num eFuzzy 0 ecFuzzy 1 num KiRule pe 1 pec KiFuzzy num eFuzzy 1 ecFuzzy 0 num KiRule pe 1 pec 1 KiFuzzy num eFuzzy 1 ecFuzzy 1 加权平均法解模糊 Ki calcu KiFuzzy 0 kiRule 0 KiFuzzy 1 kiRule 1 KiFuzzy 2 kiRule 2 KiFuzzy 3 kiRule 3 return Ki calcu 函数功能 PID 参数 Kd 的计算 float fuzzy kd float e float ec float Kd calcu uchar num pe pec float code eRule 7 3 0 2 0 1 0 0 0 1 0 2 0 3 0 float code ecRule 7 3 0 2 0 1 0 0 0 1 0 2 0 3 0 float eFuzzy 2 0 0 0 0 float ecFuzzy 2 0 0 0 0 float code kdRule 4 0 0 1 0 2 0 3 0 float KdFuzzy 4 0 0 0 0 0 0 0 0 int code KdRule 7 7 3 3 3 2 2 2 2 2 2 2 1 1 1 1 1 1 2 1 1 2 1 1 1 0 1 0 1 1 1 1 0 0 0 1 1 2 2 1 0 1 1 1 3 3 3 3 2 3 2 精品文档 13欢迎下载 误差隶属函数描述 if e eRule 0 eFuzzy 0 1 0 pe 0 else if eRule 0 e pe 0 else if eRule 1 e pe 1 else if eRule 2 e pe 2 else if eRule 3 e pe 3 else if eRule 4 e pe 4 else if eRule 5 e pe 5 else eFuzzy 0 0 0 pe 5 eFuzzy 1 1 0 eFuzzy 0 误差变化隶属函数描述 精品文档 14欢迎下载 if ec ecRule 0 ecFuzzy 0 1 0 pec 0 else if ecRule 0 ec pec 0 else if ecRule 1 ec pec 1 else if ecRule 2 ec pec 2 else if ecRule 3 ec pec 3 else if ecRule 4 ec pec 4 else if ecRule 5 ec pec 5 else ecFuzzy 0 0 0 pec 5 ecFuzzy 1 1 0 ecFuzzy 0 查询模糊规则表 num KdRule pe pec KdFuzzy num eFuzzy 0 ecFuzzy 0 num KdRule pe pec 1 KdFuzzy num eFuzzy 0 ecFuzzy 1 num KdRule pe 1 pec 精品文档 15欢迎下载 KdFuzzy num eFuzzy 1 ecFuzzy 0 num KdRule pe 1 pec 1 KdFuzzy num eFuzzy 1 ecFuzzy 1 加权平均法解模糊 Kd calcu KdFuzzy 0 kdRule 0 KdFuzzy 1 kdRule 1 KdFuzzy 2 kdR ule 2 KdFuzzy 3 kdRule 3 return Kd calcu 函数功能 AD 将采集到的温度进行转化 uint read tlc2543 uchar port static uchar PORT 0 uchar Temp i k 0 uint AD value 0 Temp port CS 1 CLK 0 Temp 4 CS 0 while 1 for i 0 i 8 i CLK 0 if Temp else SDI 0 AD value 1 if SDO AD value 0 x01 CLK 1 Temp 1 for i 8 i 12 i CLK 0 AD value 1 if SDO AD value 0 x01 精品文档 16欢迎下载 delay us 10 CLK 1 CLK 0 CS 1 if PORT port break e