PID application in motor closed-loop speed control system-EEWORLD

Collect

#include
#include
#include
#include "lcdbn.h"
uchar data1[4]={0,2,5,0};
uchar data2[4]= {0,0,0,0};
uchar j,key=0;
uchar chr[]="pre: *2%";
uchar *chr1[3]={"openc V: ",
                "shutc V: ",
                "acceler: "} ;
uchar counter1=0x84;
uchar counter2=0xc8;
uchar flag; //flag is the switch enable
int E1r;
int E2r=0,E3r=0;
uint speedr=15,c_r=0;// maxc=700;
void init_intr(void)
{
SREG=0x80;
TIMSK=0x40;
TCCR2=0x06;
TCCR1A=0xe3; //A is high level, B is low level
TCCR1B=0x0a;
MCUCR=0x0a; ///External INT1/0 interrupt rising valid
GICR=0xc0;
}
/////////// ///////////////////////////
/////Left and right motor PWM settings
/////////////// //////////////////////
void setpwmr(uchar *p)
{ uint temp1;
temp1=(uint)p[1]*10+p[2];
if( temp1<25)
{
speedr=(uint)28-temp1*28/25;
}
else
{
speedr=(uint)temp1*28/25-28;
}
temp1=1023*temp1/50;
OCR1A=temp1;
OCR1B=temp1;
}
/////Speed increase/decrease//////
void add(uchar*p)
{
if(p[1]!=5)
{
p[2]+ +;
if(p[2]==10)
{
p[2]=0;p[1]++;
}
}
}
void sub(uchar *p)
{
uchar temp;
temp=p[1]*20+ p[2]*2;
if(temp!=0)
temp=temp-2;
p[1]=temp/20; //Setting value restoration//
p[2]=(temp-p[1]* 20)/2;
}

void display()
{ write_string(0x80,chr);
    write_string(0xc0,chr1[key]);
    write_order(counter1+0);
    write_Data(data1[0]+0x30);
   for(j=1 ;j<3;j++)
     {write_order(counter1+j);
      write_Data(data1[j]+0x30);
      }
      for(j=0;j<4;j++)
     {
     write_order(counter2+j);
      write_Data(data2[j]+0x30);
      }
}
//////Speed adjustment////
void speed_change(void)
{
if(PINA.1==0)
{
delay_ms(100);
if(PINA.1==0)
{add(data1); }
}
if(PINA.2==0)
{delay_ms(100);
if(PINA.2==0)
{sub(data1);}
}
}
/////Keyboard reading////
void testkey(void )
{
uchar flag2=0;
if(PINA!=0x0f)
{ delay_ms(10);
  if(PINA!=0x0f)
  {flag2=1;}
}

if(flag2)
{
  while(PINA.3!=0)
{
  while(PINA .0==0)
  { delay_ms(100);
  if(PINA.0==0)
{
if(key<2)
  {key++;}

  else
  key=0;}
  }

switch (key)
{case 0: //Mode 1PID adjustment
  flag=0;
  speed_change();
  setpwmr(data1);
  display();
  break;
case 1: //Mode 2 open loop
  flag=1;
   speed_change();
   setpwmr(data1);
   init_intr();
   display() ;
break;
case 2:
display();
break;
default:break; }
}
flag2=0;
}
}
/* void speed_convert(uint c) //Convert speed measurement into pwm value
{
}*/
void new_pid(uint cl,uchar k) //Integral separation method
{ int temp3,z,p; //p is the integral coefficient. The larger the error, the smaller P
  if(flag)
  { E1r=speedr-cl;
  if(speedr>0&abs( E1r)<11)
  {
  switch(abs(E1r)/2)
  {
  case 5: p=1;
  break;
  case 4: p=3;
  break;
case 3: p=5;
  break;
case 2: p=8;
  break;
case 1: p=10;
  break;
default :
  break;
  }
  z=23*(E1r-E2r)+p*(E1r-2*E2r+E3r)-10*E3r;
  z=(int)z*102 /k;
  temp3=OCR1A;
  temp3=temp3+z;
  OCR1A=temp3;
  OCR1B=temp3;
  E3r=E2r;
  E2r=E1r;
  }
  }
}

/*void pid_motr(uint cr,uchar k)
{
int temp,u;
if(flag)
{
if(speedr>0)
{
E1r=speedr-cr;
if(E1r==speedr) //E has a large error When the maximum rated current accelerates
{ OCR1A=maxc;
OCR1B=maxc; }
else if(abs(E1r)>0&&abs(E1r)<7)
{
u=(int)(24*E1r-35*E2r+14*E3r)* 102/k;
temp=OCR1A;
temp=temp+u;
OCR1A=temp;
OCR1B=temp;
E3r=E2r;
E2r=E1r;
}
}
}
} */
////////Speed data decomposition/// ////
void speed_count(uint r)
{
  data2[3]=r%10;
  r=r/10;
  data2[2]=r%10;
  r=r/10;
  data2[1]=r%10;
  r=r/10;
  data2[0]=r%10;
}
/////Use external interrupt to measure speed//////////
interrupt[EXT_INT0]void int_0(void)
{ c_r++;
}

/////T2 timing 80ms to sample speed////////
interrupt[TIM2_OVF]void time_2(void)
{
   MCUCR=0x00;
   GICR=0x00;
   new_pid(c_r,500);
   //pid_motr(c_r,100);
   speed_count(c_r);
   MCUCR=0x0f; ///External INT1/0 interrupt rising valid
   GICR=0xc0;
   c_r=0;

}
void initall_IO(void)
{
DDRB=0xf0;
PORTB=0x00;
DDRA=0xF0;
PORTA=0x0F;
DDRC=0XFF;
PORTC=0X00;
DDRD=0xF0;
PORTD=0x0F;
}



void main(void)
{
   initall_IO();
   init_lcd();
   while(1)
   {
   DDRA=0xF0;
   PORTA=0x0F;
  testkey();
  init_intr();
  display();
      }
      }

The PID algorithm formula is a bit wrong: it should be changed to

z=100*(E1r-E2r)+p*E1r+125*(E1r-2*E2r+E3r);

After the teacher's guidance: the M method for speed sampling is not suitable for low speed, so for the large speed regulation range, the M/T method is used, which is suitable for high and low speed measurement! The speed measurement must also be digitally filtered! The first-order inertia/median method, average method, etc. can be used!

Keywords：PID Reference address：PID application in motor closed-loop speed control system

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