不完全微分PID控制程序资料

1、/#include #pragma hdrstop#include Unit1.h/#pragma package(smart_init)#pragma resource *.dfmfloat SP=6.0,PV=0.0,MV=0.0,SP_T=0;float HS=10.0,LS=2.0,HL=7.5,LL=2.5;float P=0.5,I=10,D=5,T=1.0, Tf=1.0;float Uk=0.0,Uk1=0.0,DeltaUk=0.0,DeltaUk1=1.0;float Ek=0.0,Ek1=0.0,Ek2=0.0;float a,q0,q1,q2;int pvtrend48

2、0;int sptrend480;int mvtrend480;TForm1 *Form1;/_fastcall TForm1:TForm1(TComponent* Owner): TForm(Owner)/void _fastcall TForm1:FormCreate(TObject *Sender) hDLL=LoadLibrary(ac6611.dll); if(hDLL!=NULL)Label1-Caption = AC6611.dll load ok!;(FARPROC&)AC6611_CreateDevice=GetProcAddress(hDLL,AC6611_CreateDe

3、vice); / 创建 驱动句柄(FARPROC &)AC6611_CloseDevice=GetProcAddress(hDLL,AC6611_CloseDevice); / 关 闭驱动句柄(FARPROC&)AC6611_DI=GetProcAddress(hDLL,AC6611_DI);/数字量输入，port=0-1两个通道， 8位数据由 DiData 返回(FARPROC&)AC6611_DO=GetProcAddress(hDLL,AC6611_DO);/数字量输出，port=0-1 两个通道， 8 位数据由 DoData 输出(FARPROC&)AC6611_DiBit=GetPr

4、ocAddress(hDLL,AC6611_DiBit);/数字量输入，port=0-1 两个通道，指定位输入(FARPROC&)AC6611_DoBit=GetProcAddress(hDLL,AC6611_DoBit);/数字量输出，port=0-1 两个通道，指定位输出(FARPROC&)AC6611_DA=GetProcAddress(hDLL,AC6611_DA); /DA 输出， 0-4095(FARPROC&)AC661 1_VoltageToDA=GetProcAddress(hDLL,AC661 1_VoltageToDA);(FARPROC&)AC6611_AD=GetPr

5、ocAddress(hDLL,AC6611_AD);/通用 AD采样(FARPROC &)AC6611_AD_CHN=GetProcAddress(hDLL,AC6611_AD_CHN); / 设置 AD 通道 0-15(FARPROC &)AC6611_ADS=GetProcAddress(hDLL,AC6611_ADS);/直接 AD采样，为单通道 AD 采样设计(FARPROC/&)AC6611_ADToV oltage=GetProcAddress(hDLL,AC6611_ADToVoltage);hDevice=AC6611_CreateDevice(0, &ErrorOf6611)

6、;创建驱动，选择第 0 块卡if(hDevice != -1)Label2-Caption = AC6611 Card Is Exist!;elseLabel2-Caption = AC6611 Card Is not Exist!;/void _fastcall TForm1:Timer1Timer(TObject *Sender)unsigned long ad;unsigned long da;AC6611_AD(hDevice, 5, &ad); /tongdaoPV=ad*(HS-LS)/4095.0;Edit14-Text=FloatToStrF(PV,0,4,4);PV= Str

7、ToFloat(Edit14-Text);float Temp=(PV-LS)*100/(HS-LS);SP_T=(SP-LS)*100/(HS-LS);Edit1-Text=FloatToStrF(Temp,0,4,4);Ek=SP-PV;DeltaUk=a*DeltaUk1+(1-a)*(q0*Ek+q1*Ek1+q2*Ek2);Uk=Uk1+DeltaUk;if( Uk100.0) Uk=100.0;if(UkText=FloatToStrF(MV,0,4,4);for(int i=0;iPicture-LoadFromFile(qushi.bmp);Image1-Canvas-Pen-

8、Width = 1;Image1- Canvas-Pen-Color = clBlue;Image1-Canvas-MoveTo(0,300); for(int i=0;iCanvas-LineTo(i,300-sptrendi);if(TempColor=clFuchsia;if(30Temp & TempColor=clBlack;if(Temp80) Label27-Color=clRed;if(TempCanvas-Pen-Color =clFuchsia; if(30Temp & TempCanvas-Pen-Color = clBlack; if(Temp80)Image1-Can

9、vas-Pen-Color = clRed; Image1-Canvas-MoveTo(0,300);for(int i=0;iCanvas-LineTo(i,300-pvtrendi);Image1- Canvas-Pen-Color = clGreen;Image1-Canvas-MoveTo(0,300);for(int i=0;iCanvas-LineTo(i,300-mvtrendi);Image2-Picture-LoadFromFile(bangtu.bmp);Image2- Canvas-Pen-Color =clRed ;Image2- Canvas-Pen-Width =

10、5;Image2- Canvas-MoveTo(35,294);Image2- Canvas-LineTo(35,294-SP*288/(HS-LS); if(Temp Canvas-Pen-Color = clFuchsia; if(30Temp & Temp Canvas-Pen-Color = clBlack; if(Temp80)Image2- Canvas-Pen-Color = clBlack;Image2- Canvas-MoveTo(55,294);Image2- Canvas-LineTo(55,294-PV*288/(HS-LS);Image2- Canvas-Pen-Co

11、lor = clBlue;Image2- Canvas-MoveTo(70,294);Image2- Canvas-LineTo(70,294-MV*288/100.0);/void _fastcall TForm1:Button1Click(TObject *Sender)HS=StrToFloat(Edit3-Text);LS=StrToFloat(Edit4-Text);HL=StrToFloat(Edit5-Text);LL=StrToFloat(Edit6-Text);P=StrToFloat(Edit8-Text);I=StrToFloat(Edit9-Text);D=StrToF

12、loat(Edit10-Text);Tf=StrToFloat(Edit12-Text);q0=(100.0/P)*(1+T/I+D/T);q1=-(100.0/P)*(1+2*D/T);q2=(100.0/P)*D/T;SP=StrToFloat(Edit13-Text);/void _fastcall TForm1:Button2Click(TObject *Sender)Close();/驱动加载程序：/#ifndef Unit1H#define Unit1H/#include #include #include #include #include #include #include /

13、 class TForm1 : public TForm_published:/ IDE-managed Components TTimer *Timer1;TPageControl *PageControl1; TTabSheet *TabSheet2;TLabel *Label1;TLabel *Label2;TImage *Image1;TLabel *Label4;TLabel *Label5;TLabel *Label6;TLabel *Label7;TLabel *Label8;TLabel *Label9;TLabel *Label10;TLabel *Label11;TLabe

14、l *Label12;TLabel *Label13;TLabel *Label14;TLabel *Label15;TLabel *Label17;TLabel *Label18;TLabel *Label19;TLabel *Label21;TLabel *Label22;TLabel *Label23;TLabel *Label24;TLabel *Label26;TLabel *Label27;TLabel *Label29;TImage *Image2;TLabel *Label16;TLabel *Label3;TButton *Button1;TEdit *Edit3;TEdit

15、 *Edit4;TEdit *Edit5;TEdit *Edit6;TEdit *Edit8;TEdit *Edit9;TEdit *Edit10;TEdit *Edit12;TEdit *Edit13;TEdit *Edit14;TEdit *Edit15;TButton *Button2;TEdit *Edit1;TUpDown *UpDown1;TTabSheet *TabSheet1;TLabel *Label20;TLabel *Label25;TLabel *Label28;TLabel *Label30;TLabel *Label31;TLabel *Label32;void _

16、fastcall FormCreate(TObject *Sender);void _fastcall Timer1Timer(TObject *Sender);void _fastcall Button1Click(TObject *Sender);void _fastcall Button2Click(TObject *Sender); private: / User declarationspublic:/ User declarations_fastcall TForm1(TComponent* Owner);/ extern PACKAGE TForm1 *Form1;/ #endi

17、f/define the function of DllHINSTANCE hDLL; /DLL 句柄int hDevice; /驱动 句柄 -暂定为全局变量，自定义时，可以自己传 递参数unsigned long ErrorOf6611;int _stdcall (*AC6611_CreateDevice)(int, unsigned long *);/ 创建驱动句 柄int _stdcall (*AC6611_CloseDevice)(int);/ 关闭驱动句柄int _stdcall (*AC6611_DI)(int, int , unsigned char*);/ 输入数字量int _

18、stdcall (*AC6611_DO)(i nt, i nt , un sig ned char);/ 输出数字量int _stdcall (*AC6611_DiBit)(int, int , unsigned long);/ 输入数字量int _stdcall (*AC6611_DoBit)(int, int , unsigned long, int);/ 输出数字量int _stdcall (*AC6611_DA)(int, unsigned long);/DA 输出int _stdcall (*AC6611_VoltageToDA)(float Voltage, int mode);/DA 电压 转换函数，将电压转换成 0-4095，mode=0,1 对应 0-10V，+-10Vint _stdcall (*AC661