模糊PID自动控制控制温控系统设计C语言知识程序代码

1、-/*模糊PID控制温控系统仿真设计C程序代码*/ #in cludevreg52.h>#defi ne uchar un sig ned char#defi ne uint un sig ned int#defi ne P ULSE 200#defi ne number 0.035sbit SDO = P 29;sbit SDI = P21;sbit CS = P22;sbit CLK = P23;sbit EOC = P2M;sbit RS = P25;sbit RW = P26;sbit EN = P 2八7;sbit KEY仁 P 39;sbit KEY2= P 3"s

2、bit KEY3= P 3八2;sbit KEY4= P 3八3;sbit KEY5= P 3八4;sbit IN1 = P 3八5;sbit IN2 = P 3八6;sbit ENA = P 3八7;uchar flag;uchar flag_start;float S_tem p=60.0;float P_tem p=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(uc

3、har z) "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; vo

4、id Show_Num(uchar x,uchar y,uchar n, float num) "uchar a3;uchar i;uint Temp;Temp=(i nt)num;for(i=0;i vn ;i+)ai = Temp %10;Temp = Temp /10;if(y%2 = 1)LCD_WriteCOM(0x80+x);elseLCD_WriteCOM(0x80+0x40+x);for( i=n ;i>0;i-)LCD_WriteData(ai-1+0x30);void Show_Ki(uchar num _Ki) " "uchar Tem

5、p; num_Ki=Ki*100;Temp=(uchar) nu m_Ki;Show_Num(10,2,1,Te mp %10);Temp=Temp /10;Show_Num(9,2,1,Te mp %10);Temp=Temp /10;Show_Num(7,2,1,Te mp); 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_I ni t(void) "RW

6、 = 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_dis pl ay(void) Show_char(1,1,T); delay_us(10);Show_char(0,1,卩');delay_us(10);Show_char(1,1,T);delay_us(10);Show_char(2,1,':');delay_us(10);Show_Num(3,1,3,P_tem p);delay_us(10)

7、;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_tem p);delay_us(10);Show_char(0,2，卩')；delay_us(10);Show_char(1,2,':');delay_us(10);Show_Num(2,2,2,K p);delay_us(10);Show_char(5,2,T);delay_us(10);Show_char(

8、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_l ni t() "RCA P2H =(65536-300)/256;RCA P2L =(65536-300)%25

9、6;TH2 = RCA P2H;TL2 = RCA P2L;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_te mp=S_te mp+1; if(S_tem p>=200) S_temp=200;while(!KEY1); if(KEY2=0) delay_ms(1); if(KEY2=0)if(S_tem p>0) S_temp=S_temp-1;else if(S_te mpv=0)S_te mp=0;while

10、(!KEY2);if(KEY3=0) delay_ms(1); if(KEY3=0) if(S_tem pv=190)S_tem p=S_te mp +10; while(!KEY3); if(KEY4=0)delay_ms(1);if(KEY4=0)if(S_te mp >=10)S_tem p=S_te mp -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 P ID_Calculate()"Err = S_te mp - P_te

11、mp;Sum_Err += Err;D Err = Err - Last Err;Last_Err = Err;U=K p*Err+Ki*Sum_Err+Kd*D_Err; U=( in t)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*/e,ec表示误差，误差变化率float fuzzy_k p( float e, float ec)float Kp_calcu;uchar num,pe,p ec;float code eRule7=-3.0,-2

12、.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/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float eFuzzy2=0.0,0.0;float ecFuzzy2=0.0,0.0;float code kp Rule4=0.0,8.0,16.0,24.0;float KpF uzzy4=0.0,0.0,0.0,0.0;in t code Kp Rule77=3,3,3,3,

13、3,332,2,2,2,1,221,1,1,1,1,1,1,1,1,0,1,0,1,1,0,0,1,0,0,1,0,0,1,0,1,0,0,2,3,3,3,3,3,3,3;/*误差E隶属函数描述*/if(e<eRule0)eFuzzy0 =1.0;pe = 0;else if(eRule0<=e && e<eRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0);pe = 0;else if(eRule1<=e && e<eRule2)eFuzzy0 = (eRule2 -e)/(eRule2-eRul

14、e1);pe = 1;else if(eRule2<=e && e<eRule3)-/eFuzzyO = (eRule3 -e)/(eRule3-eRule2); pe = 2;else if(eRule3v=e && e<eRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3;else if(eRule4<=e && e<eRule5)eFuzzy0 = (eRule 5-e)/(eRule5-eRule4); pe = 4;else if(eRule5<=e

15、 && e<eRule6)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(ec<ecRule0)ecFuzzy0 =1.0;pec = 0;else if(ecRule0<=ec && ec<ecRule1)ecFuzzy0 = (ecRule1 - ec)/(ecRule1-ecRule0); pec = 0 ;else if(ecRule1<=ec &a

16、mp;& ec<ecRule2)ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1); pec = 1;else if(ecRule2v=ec && ec<ecRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2); pec = 2 ;else if(ecRule3<=ec && ec<ecRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3);p ec=3;else if(ecRule4<=ec &

17、;& ec<ecRule5) ecFuzzy0 = (ecRule 5-ec)/(ecRule5-ecRule4);p ec=4;else if(ecRule 5<=ec && ec<ecRule 6) ecFuzzy0 = (ecRule 6-ec)/(ecRule6-ecRule 5);p ec=5;elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0;/* 查询模糊规则表*/num =Kp Rule pe pec;KpF uzzy num += eFuzzy0*ecFuzzy0;num =Kp R

18、ule pe pec+1;KpF uzzy num += eFuzzy0*ecFuzzy1;num =Kp Rule pe+1 pec;KpF uzzy num += eFuzzy1*ecFuzzy0;num =K pRule pe+1 pec+1;KpF uzzy num += eFuzzy1*ecFuzzy1;/*力口权 平 均 法 解 模 糊*/Kp_calcu=K pF uzzy0*k pRule0+K pF uzzy1*k pRule1+K pFuzzy2*k pRule 2+Kp Fuzzy3*k pRule3;return(Kp_calcu);/*函数功能：PID参数Ki的计算*

19、/ float fuzzy_ki(float e, float ec)float Ki_calcu;uchar num,pe,p ec;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

20、=0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0,0,1,3,333,3,3,3;/*误差隶属函数描述*/if(e<eRule0)eFuzzy0 =1.0;pe = 0;else if(eRule0v=e && e<eRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0); pe = 0;else if(eRule1<=e && e<eRule2)eFuzzy0 = (eRule2 -e)/(eRu

21、le2-eRule1); pe = 1;else if(eRule2<=e && e<eRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2); pe = 2;else if(eRule3<=e && e<eRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3;else if(eRule4<=e && e<eRule5)eFuzzy0 = (eRule5-e)/(eRule5-eRule4); pe = 4;else if(eRu

22、le5<=e && e<eRule6)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(ec<ecRule0)ecFuzzy0 =1.0;pec = 0;else if(ecRule0v=ec && ec<ecRule1)ecFuzzy0 = (ecRule1 - ec)/(ecRule1-ecRule0); pec = 0 ;else if(ecRule1<=ec

23、&& ec<ecRule2)ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1); pec = 1;else if(ecRule2v=ec && ec<ecRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2); pec = 2 ;else if(ecRule3<=ec && ec<ecRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); p ec=3;else if(ecRule4<=ec &

24、amp;& ec<ecRule5) ecFuzzy0 = (ecRule 5-ec)/(ecRule5-ecRule4); p ec=4;else if(ecRule 5<=ec && ec<ecRule 6) ecFuzzy0 = (ecRule 6-ec)/(ecRule6-ecRule5); p ec=5;elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0;/*查询模糊规则表 */num =KiRule pe pec;KiFuzzy num += eFuzzy0*ecFuzzy0;num =Ki

25、Rule pe pec+1;KiFuzzy num += eFuzzy0*ecFuzzy1;num =KiRule pe+1 pec;KiFuzzy num += eFuzzy1*ecFuzzy0;num =KiRule pe+1 pec+1;KiFuzzy num += eFuzzy1*ecFuzzy1;/*力口权 平 均 法 解 模 糊 */Ki_calcu=KiFuzzy0*kiRule0+KiFuzzy1*kiRule1+KiFuzzy2*kiRule2 +KiFuzzy3*kiRule3;return(Ki_calcu);/*函数功能：PID参数Kd的计算*/ float fuzzy

26、_kd(float e, float ec) "float Kd_calcu;uchar num,pe,p ec;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 code KdRule77=3,3,3,2,2

27、,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(e<eRule0)-/eFuzzyO =1.0;pe = 0；else if(eRule0v=e && e<eRule1)eFuzzy0 = (eRule1-e)/(eRule1-eRule0); pe = 0;else if(eRule1<=e && e<eRule2)eFuzzy0 = (eRule2 -e)/(eRule2-eRule

28、1); pe = 1;else if(eRule2<=e && e<eRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2); pe = 2;else if(eRule3<=e && e<eRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3;else if(eRule4<=e && e<eRule5)eFuzzy0 = (eRule 5-e)/(eRule5-eRule4); pe = 4;else if(eRule 5<

29、=e && e<eRule6)eFuzzy0 = (eRule6-e)/(eRule6-eRule 5); pe = 5;elseeFuzzy0 =0.0;pe =5;eFuzzy1 =1.0 - eFuzzy0;/*误差变化隶属函数描述*/if(ec<ecRule0)ecFuzzy0 =1.0;pec = 0;-/else if(ecRuleOv=ec && ecvecRule1)ecFuzzyO = (ecRule1 - ec)/(ecRule1-ecRule0); pec = 0 ;else if(ecRule1<=ec &&am

30、p; ec<ecRule2)ecFuzzyO = (ecRule2 - ec)/(ecRule2-ecRule1); pec = 1;else if(ecRule2v=ec && ec<ecRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2); pec = 2 ;else if(ecRule3<=ec && ec<ecRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); p ec=3;else if(ecRule4<=ec &&

31、; ec<ecRule5) ecFuzzy0 = (ecRule 5-ec)/(ecRule5-ecRule4); p ec=4;else if(ecRule 5 <=ec && ec<ecRule 6) ecFuzzy0 = (ecRule 6-ec)/(ecRule6-ecRule5); p ec=5;elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0;/*询模糊规则表 */num =KdRule pe pec;KdFuzzy num += eFuzzy0*ecFuzzy0;num =KdRule pe

32、pec+1;KdFuzzy num += eFuzzy0*ecFuzzy1;num =KdRule pe+1 pec;KdFuzzy num += eFuzzy1*ecFuzzy0;num =KdRule pe+1 pec+1;KdFuzzy num += eFuzzy1*ecFuzzy1;/* 力廿权平均法解模糊*/Kd_calcu=KdFuzzy0*kdRule0+KdFuzzy1*kdRule1+KdFuzzy2*kdRule2+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 P ORT = 0; uchar Temp ,i,k=0;uint AD_value=0;Temp = p ort;CS = 1;CLK = 0;Tempv <=4;CS = 0;while(1)for(i=0;i<8;i+) CLK = 0; if(Te mp&0x80)SDI = 1;el