模糊PID控制温控系统设计C语言程序代码.docx

1、模糊PID控制温控系统设计C语言程序代码/* 模糊PID控制温控系统仿真设计C程序代码 */ #include #define uchar unsigned char #define uint unsigned int #define PULSE 200 #define number 0.035 sbit SDO = P20; sbit SDI = P21; sbit CS = P22; sbit CLK = P23; sbit EOC = P24; sbit RS = P25; sbit RW = P26; sbit EN = P27; sbit KEY1= P30; sbit KEY2=

2、P31; sbit KEY3= P32; sbit KEY4= P33; sbit KEY5= P34; sbit IN1 = P35; sbit IN2 = P36; sbit ENA = P37; 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 */ voi

3、d delay_ms(uchar z) uchar i; uchar j; for(i=z;i0;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

4、; void Show_Num(uchar x,uchar y,uchar n,float num) uchar a3; uchar i; uint Temp; Temp=(int)num; for(i=0;i0;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_x0010_); Temp=Temp/10; Show_Num(9,2,1,Temp_x0010_); Temp=Temp/10; Sh

5、ow_Num(7,2,1,Temp); void Show_char(uchar x,uchar y,uchar ch) if(y%2 = 1) LCD_WriteCOM(0x80+x); else LCD_WriteCOM(0x80+0x40+x); LCD_WriteData(ch); void LCD_Init(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)

6、 Show_char(1,1,T); delay_us(10); Show_char(0,1,P); delay_us(10); Show_char(1,1,T); 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(

7、10); Show_char(0,2,P); delay_us(10); Show_char(1,2,:); delay_us(10); Show_Num(2,2,2,Kp); delay_us(10); Show_char(5,2,I); 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

8、(14,2,2,Kd); delay_us(10); /* 函数功能：定时器2初始化 */ void Timer2_Init() RCAP2H =(65536-300)/256; RCAP2L =(65536-300)%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_scan(void) if(KEY1=0) delay_ms(1); if(KEY1=0) S_temp=S_temp+1; if(S_temp=200) S_temp=200; while(!KEY1

9、); 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_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_

10、temp - P_temp; Sum_Err += Err; D_Err = Err - Last_Err; Last_Err = Err; U=Kp*Err+Ki*Sum_Err+Kd*D_Err; U=(int)U; if(U=0) if(U=200) U=200; flag=1; else U=-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 num,pe,pec; float code eR

11、ule7=-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; /隶属于误差E的隶属程度 float ecFuzzy2=0.0,0.0; /隶属于误差变化率EC的隶属程度 float code kpRule4=0.0,8.0,16.0,24.0; /Kp的模糊子集 float KpFuzzy4=0.0,0.0,0.0,0.0; /隶属于Kp的隶属程度 int code KpRule77= /

12、Kp的模糊控制表 3,3,3,3,3,3,3, 2,2,2,2,1,2,2, 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 if(eRule0=e & eeRule1) eFuzzy0 = (eRule1-e)/(eRule1-eRule0); pe = 0; else if(eRule1=e & eeRule2) eFuzzy0 = (eRule2 -e)/(eRule2-eRule

13、1); pe = 1; else 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 = (eRule5-e)/(eRule5-eRule4); pe = 4; else if(eRule5=e & eeRule6) eFuzzy0 = (eRule6-e)/(eRule6-eRule5);

14、 pe = 5; else eFuzzy0 =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(ecRule0=ec & ececRule1) ecFuzzy0 = (ecRule1 - ec)/(ecRule1-ecRule0); pec = 0 ; else if(ecRule1=ec & ececRule2) ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1); pec = 1; else if(ecRu

15、le2=ec & ececRule3) ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2); pec = 2 ; else if(ecRule3=ec & ececRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); pec=3; else if(ecRule4=ec & ececRule5) ecFuzzy0 = (ecRule5-ec)/(ecRule5-ecRule4); pec=4; else if(ecRule5=ec & ececRule6) ecFuzzy0 = (ecRule6-ec)/(ecRu

16、le6-ecRule5); pec=5; else ecFuzzy0 =0.0; pec = 5; ecFuzzy1 = 1.0 - ecFuzzy0; /*查询模糊规则表*/ num =KpRulepepec; KpFuzzynum += eFuzzy0*ecFuzzy0; num =KpRulepepec+1; KpFuzzynum += eFuzzy0*ecFuzzy1; num =KpRulepe+1pec; KpFuzzynum += eFuzzy1*ecFuzzy0; num =KpRulepe+1pec+1; KpFuzzynum += eFuzzy1*ecFuzzy1; /*加

17、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 num,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; fl

18、oat 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; int 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, 0,0,0,0,0,0,0, 2,0,0,0,0,0,1, 3,3,3,3,3,3,3 ; /*误差隶属函数描述*/ if(eeRule0) eFuzzy0 =1.0; pe = 0; else if(eRu

19、le0=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; else if(eRule3=e & eeRule4) eFuzzy0 = (eRule4-e)/(eRule4-eRule3); pe = 3; else if(eRule

20、4=e & eeRule5) eFuzzy0 = (eRule5-e)/(eRule5-eRule4); pe = 4; else if(eRule5=e & eeRule6) eFuzzy0 = (eRule6-e)/(eRule6-eRule5); pe = 5; else eFuzzy0 =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(ecRule0=ec & ececRule1) ecFuzzy0 = (ecRule1 - ec)/(ecR

21、ule1-ecRule0); pec = 0 ; else if(ecRule1=ec & ececRule2) ecFuzzy0 = (ecRule2 - ec)/(ecRule2-ecRule1); pec = 1; else if(ecRule2=ec & ececRule3) ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2); pec = 2 ; else if(ecRule3=ec & ececRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); pec=3; else if(ecRule4=ec &

22、 ececRule5) ecFuzzy0 = (ecRule5-ec)/(ecRule5-ecRule4); pec=4; else if(ecRule5=ec & ececRule6) ecFuzzy0 = (ecRule6-ec)/(ecRule6-ecRule5); pec=5; else ecFuzzy0 =0.0; pec = 5; ecFuzzy1 = 1.0 - ecFuzzy0; /*查询模糊规则表*/ num =KiRulepepec; KiFuzzynum += eFuzzy0*ecFuzzy0; num =KiRulepepec+1; KiFuzzynum += eFuzzy0*ecFuzzy1; num =KiRulepe+1pec; KiFuzzynum += eFuzzy1*ecFuzzy0; num =KiRulepe+1pec+1; KiFuzzynum += eFuzzy1*ecFuzzy1; /*加权平均法解模糊*/ Ki_cal