直流电机的速度环PI控制

1、加入了枳分运算，高速震荡变小了，选择了枳分系数是0.1,和采样周期一样。但是高速震 荡还是存在，超调基本上没有了。当把积分数值除以十的时候，你会发现输出的震荡明显减少了，和开环控制的时候差不多, 由此可以猜测，震荡有可能是由测试信号的精度决定的，另一方面可能是因为PWM所引起的。通过综合比较发现，闭环系统的启动速度很快，比开环的快很多，但 是加装了积分部分后，输出似乎变小了。kp=3;ADin=ff,UK=FE,speed=240.加速过程很快，无震荡。ADin=fO,UK=FE,但是有震荡为 0, speed=235239oADin=eO,UK=FE,O 出现的纪律不低 speed=2182

2、25.ADin=d0,speed=201zv213.ADin=c0,speed=188200.ADin=aO,speed=168171.ADin=90,speed=165170.ADin=80,speed=165-169.ADin=50,speed=165169.在80以后便无法调速了#include #include #include bit flag=l;unsigned char pwm=0;sbit P21=P2A1;sbit P20=P2A0;unsigned char kl;unsigned char k2,k3;unsigned char BJ; 正负的标志位；unsigned

3、char EK_num3,EK_flag3; 误差和符号。unsigned char kp,ki,kd;unsigned char UK; 控制输出。unsigned char negsum=0,possum=0; 正数和与负数和。unsigned char temp3; 中间变量。unsigned int tmp3;unsigned char Highlevel=Oxff;/上限输出。unsigned char Lowlevel=0 x00; 卜限输出。unsigned char ADJn=153,AD_out;指令和反馈。unsigned char a,b;unsigned char m=

4、0,n=0;void PWM_generator() interrupt 3 using 0 定时 255us,0.063s。if(flag=l)a-；if(a=O)flag=O;a=Oxff-UK;elseP21=0;)if(flag=O)b-；if(b=O)flag=l;b=UK;elseP21=l；void PID_generator() interrupt 1 using 0 /PID 定时，250us*3800.l 秒。m+;if(m=10)m=0;n+;AD_out=Pl;if( ADJnAD_out)(temp0=ADJn-AD_out;BJ=O; 正负标志位。elsetemp0

5、=AD_out-ADJn;BJ=1; /正负标志位。 ov=o；kl=tempO*kp;if(OV=l)OV=0;kl=0 xfe;)void PID_work2()(negsum=0;possum=0;if(BJ=O)(possum+=kl;temp2=temp2+temp0;else(negsum+=kl;temp2=temp2-temp0;k3=temp2/10;if(possumnegsum)(k2=possum-negsum; /用8位数据存储结果 CY=0;templ=k3+kl; 误差积累，if(CY=l) 16 位判断。UK=0 xfe;elseUK=kl+k3;)/elseU

6、K=1;P3=UK; main()kp=5;ki=l;kd=l;TMOD=Ox22;TH0=0 x06; /对 THO TLO 赋值 TL0=0 x06;TH 1=0 x06;/对 TH1 TH 赋值TLl=0 x06;P20=l;ETO=1;TFO=O;ET1=1;TF1=O;TR1=1;TRO=1;EA=1;while(l)PID_work2();震荡控制#include #include #include bit flag=l;unsigned char pwm=O;sbit P21=P2A1;sbit P20=P2A0;unsigned char kl;unsigned char k2

7、;unsigned char BJ; 正负的标志位；unsigned char EK_num3,EK_flag3; /误差和符号。unsigned char kp,ki,kd;unsigned char UK; 控制输出。unsigned char negsum=0,possum=0; 正数和与负数和。unsigned char temp3; 中间变量。unsigned int tmp3;unsigned char Highlevel=Oxff;/上限输出。unsigned char Lowlevel=OxlO; 卜限输出。unsigned char AD_in=0 x50,AD_out; 指

8、令和反馈unsigned char a,b;unsigned char m=O,n=O;void PWM_generator() interrupt 3 using 0 定时 255us,0.063s。(if(flag=l)a-；if(a=O)flag=O;a=Oxff-UK;elseP21=0;)if(flag=O)b-；if(b=O)flag=l;b=UK;elseP21=l；void PID_generator() interrupt 1 using 0 /PID 定时，250us*3800.l 秒。m+;if(m=10)(m=0;n+;AD_out=Pl;if( ADJnAD_out)

9、(temp0=ADJn-AD_out;BJ=O; 正负标志位。elsetemp 0=AD_ou t-AD_i n;BJ=1; /正负标志位。 ov=o；kl=temp0*kp;if(OV=l)OV=0;kl=0 xfe;)void PID_work2()(negsum=0;possum=0;if(BJ=O)(possum+=kl;)else(negsum+=kl;if(possumnegsum) (k2=possum-negsum; 11用8位数据存储结果 CY=O;templ=UK+k2; /8 位计算if(CY=l) 16 位判断。UK=Oxfe;elseUK=templ;/elseUK=O;P3=UK;) main()kp=3;ki=l;kd=l;TM