模糊PID控制温控系统设计C语言程序代码

1、模糊PID控制温控系统仿真设计C程序代码#in clude#defi ne uchar un sig ned char#defi ne uint un sig ned int#defi ne PULSE 200#defi ne number 0.035sbit SDO = P2A0;sbit SDI = P2A1；sbit CS = P2A2;sbit CLK = P2A3;sbit EOC = P2A4;sbit RS = P2A5;sbit RW = P2A6;sbit EN = P2A7;sbit KEY仁 P3A0;sbit KEY2=卩3八1;sbit KEY3=卩3八2;sbit

2、KEY4=卩3八3;sbit KEY5=卩3八4;sbit IN1 = P3A5;sbit IN2 = P3A6;sbit ENA = P3A7;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;

3、 iO;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

4、a3;uchar i;uint Temp;Temp=(i nt)num;for(i=0;i 0;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 =

5、1)LCD_WriteCOM(0x80+x);elseLCD_WriteCOM(0x80+0x40+x); LCD_WriteData(ch); _ void LCDni t(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,卩);delay_us(10);Show_char(1,1,T)

6、;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(1

7、0);Show_char(5,2,T);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 Timer2ni t() _RCAP2H =(65536-300)/256;RCAP2L =(65536-300)%25

8、6;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_sca n(v oid) _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=0)S_temp=0;while(!KEY2);if(KEY3=0) delay

9、_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=( in t)U;if(U=0) if(U=200

10、) 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 nu m,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;float ecFu

11、zzy2=0.0,0.0;float code kpRule4=0.0,8.0,16.0,24.0;float KpFuzzy4=0.0,0.0,0.0,0.0;in t code KpRule77=3,3,3,3,3,3,3,/隶属于误差E的隶属程度/隶属于误差变化率EC的隶属程度/Kp的模糊子集/隶属于Kp的隶属程度/Kp的模糊控制表222,2,1,2,2,1,1,1,1,1,1,1,1,1,0,1,0,1,1,0,0,1,0,0,1,0,0,1,0,1,0,0,2,3,3,3,3,3,3,3;/*误差E隶属函数描述*/if(eeRule0)eFuzzy0 =1.0;pe = 0;else

12、 if(eRule0=e & eeRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0); pe = 0;else if(eRule1=e & eeRule2)eFuzzy0 = (eRule2 -e)/(eRule2-eRule1); pe = 1;else if(eRule2=e & eeRule3)eFuzzyO = (eRule3 -e)/(eRule3-eRule2); pe = 2;else if(eRule3v=e & eeRule4) eFuzzyO = (eRule4-e)/(eRule4-eRule3); pe = 3;else if(eRul

13、e4=e & eeRule5)eFuzzyO = (eRule 5-e)/(eRule5-eRule4); pe = 4;else if(eRule5=e & eeRule6)eFuzzy0 = (eRule6-e)/(eRule6-eRule 5); 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(ecRule0v=ec & ececRule1)ecFuzzy0 = (ecRule1 - ec)/(ecRule1-

14、ecRule0); pec = 0 ;else if(ecRule1=ec & ececRule2)ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1); pec = 1;else if(ecRule2v=ec & ececRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2); pec = 2 ;else if(ecRule3v=ec & ececRule4) ecFuzzyO = (ecRule4-ec)/(ecRule4-ecRule3); pec=3;else if(ecRule4=ec & ececRule

15、5) ecFuzzyO = (ecRule 5-ec)/(ecRule5-ecRule4); pec=4;else if(ecRule 5 =ec & ececRule 6) ecFuzzy0 = (ecRule 6-ec)/(ecRule6-ecRule 5); pec=5;else ecFuzzy0 =0.0; pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0;查询模糊规则表*/num =KpRulepepec;KpFuzzy num += eFuzzy0*ecFuzzy0; num =KpRulepepec+1;KpFuzzy num += eFuzzy0*ecFuzz

16、y1; num =KpRulepe+1pec;KpFuzzy num += eFuzzy1*ecFuzzy0;num =KpRulepe+1pec+1;KpFuzzy num += 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 nu m

17、,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;in t code KiRule77=0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

18、,0,0,0,0,0,2,0,0,0,0,0,1,3,333,3,3,3;/*误差隶属函数描述*/if(eeRule0)eFuzzy0 =1.0;pe = 0;else if(eRule0=e & eeRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0); pe = 0;else if(eRule1=e & eeRule2)eFuzzy0 = (eRule2 -e)/(eRule2-eRule1); pe = 1;else if(eRule2=e & eeRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2); pe = 2;el

19、se if(eRule3=e & eeRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3;else if(eRule4=e & eeRule5)eFuzzy0 = (eRule 5-e)/(eRule5-eRule4); pe = 4;else if(eRule5=e & eeRule6)eFuzzyO = (eRule6-e)/(eRule6-eRule 5); pe = 5;elseeFuzzyO =0.0;pe =5;eFuzzy1 =1.0 - eFuzzy0;/*误差变化隶属函数描述*/if(ececRule0)ecFuzzy0 =

20、1.0;pec = 0;else if(ecRule0=ec & ececRule1)ecFuzzy0 = (ecRule1 - ec)/(ecRule1-ecRule0); pec = 0 ;else if(ecRule1=ec & ececRule2)ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1); pec = 1;else if(ecRule2v=ec & ececRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2); pec = 2 ;else if(ecRule3=ec & ececRule4) e

21、cFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); pec=3;else if(ecRule4=ec & ececRule5) ecFuzzy0 = (ecRule 5-ec)/(ecRule5-ecRule4); pec=4;else if(ecRule 5 =ec & ececRule 6) ecFuzzy0 = (ecRule 6-ec)/(ecRule6-ecRule 5); pec=5;elseecFuzzyO =0.0; pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0;/* 查询模糊规则表num =KiRulepepec;KiFu

22、zzy num += eFuzzy0*ecFuzzy0; num =KiRulepepec+1;KiFuzzy num += eFuzzy0*ecFuzzy1; num =KiRulepe+1pec;KiFuzzy num += eFuzzy1*ecFuzzy0;num =KiRulepe+1pec+1;KiFuzzy num += eFuzzy1*ecFuzzy1;/* 加 权 平 均 法 解 模 糊Ki_calcu=KiFuzzy0*kiRule0+KiFuzzy1*kiRule1+KiFuzzy2*kiRule2 +KiFuzzy3*kiRule3;return(Ki_calcu); _

23、/*函数功能：PID参数Kd的计算float fuzzy_kd(float e, float ec) _float Kd_calcu;uchar nu m,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 kdRule4=0.0,1.0,2.0,3.0;float KdFuzzy4=0.0,0.0,0.0,0.0;in t

24、code KdRule77=3,3,3,2,2,22222,1,1,1,1,1,1,2,1,1,2,1,1,1,0,1,0,1,1,1,1,0,0,0,1,1,2,2,1,0 ,1,1,1,3,3,3,3,2,3,2;/*误差隶属函数描述*/if(eeRule0)eFuzzyO =1.0; pe = 0;else if(eRule0v=e & eeRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0); pe = 0;else if(eRule1=e & eeRule2)eFuzzy0 = (eRule2 -e)/(eRule2-eRule1); pe = 1;e

25、lse if(eRule2=e & eeRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2); pe = 2;else if(eRule3=e & eeRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3;else if(eRule4=e & eeRule5)eFuzzy0 = (eRule 5-e)/(eRule5-eRule4); pe = 4;else if(eRule5=e & eeRule6)eFuzzy0 = (eRule6-e)/(eRule6-eRule 5); pe = 5;elseeFuzz

26、y0 =0.0;pe =5;eFuzzy1 =1.0 - eFuzzy0;/*误差变化隶属函数描述*/if(ececRule0)ecFuzzy0 =1.0;pec = 0;else if(ecRuleOv=ec & ececRule1)ecFuzzyO = (ecRule1 - ec)/(ecRule1-ecRule0); pec = 0 ;else if(ecRule1=ec & ececRule2)ecFuzzyO = (ecRule2 - ec)/(ecRule2-ecRule1); pec = 1;else if(ecRule2v=ec & ececRule3)ecFuzzyO = (

27、ecRule3 - ec)/(ecRule3-ecRule2); pec = 2 ;else if(ecRule3=ec & ececRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); pec=3;else if(ecRule4=ec & ececRule5) ecFuzzy0 = (ecRule 5-ec)/(ecRule5-ecRule4); pec=4;else if(ecRule 5 =ec & ececRule 6) ecFuzzy0 = (ecRule 6-ec)/(ecRule6-ecRule 5); pec=5;else ecFu

28、zzy0 =0.0; pec = 5;ecFuzzy1=/*=1.0 - ecFuzzy0;查询模糊规则表*/num =KdRulepepec;KdFuzzy num += eFuzzy0*ecFuzzy0; num =KdRulepepec+1;KdFuzzy num += eFuzzy0*ecFuzzy1; num =KdRulepe+1pec;KdFuzzy num += eFuzzy1*ecFuzzy0; num =KdRulepe+1pec+1;KdFuzzy num += eFuzzy1*ecFuzzy1;加权平均法解模糊*/Kd_calcu=KdFuzzy0*kdRule0+KdFuzzy1*kdRule1+KdFuzzy2*kdRule 2+KdFuzzy3*kdRule3; return(Kd_calcu); _/* 函数功能：AD将采集到的温度进行转化 */uin t 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;w