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//PID算法温控C语言#include<reg51.h>#include<intrins.h>#include<math.h>#include<string.h>struct PID {unsigned int SetPoint; // 设定目标 Desired Valueunsigned int Proportion; // 比例常数 Proportional Constunsigned int Integral; // 积分常数 Integral Constunsigned int Derivative; // 微分常数 Derivative Constunsigned int LastError; // Error[-1]unsigned int PrevError; // Error[-2]unsigned int SumError; // Sums of Errors};struct PID spid; // PID Control Structureunsigned int rout; // PID Response (Output)unsigned int rin; // PID Feedback (Input)sbit data1=P1^0;sbit clk=P1^1;sbit plus=P2^0;sbit subs=P2^1;sbit stop=P2^2;sbit output=P3^4;sbit DQ=P3^3;unsigned char flag,flag_1=0;unsigned char high_time,low_time,count=0;//占空比调节参数unsigned char set_temper=35;unsigned char temper;unsigned char i;unsigned char j=0;unsigned int s;/***********************************************************延时子程序,延时时间以12M晶振为准,延时时间为30us×time***********************************************************/void delay(unsigned char time){unsigned char m,n;for(n=0;n<time;n++)for(m=0;m<2;m++){}}/***********************************************************写一位数据子程序***********************************************************/void write_bit(unsigned char bitval){EA=0;DQ=0; /*拉低DQ以开始一个写时序*/if(bitval==1){_nop_();DQ=1; /*如要写1，则将总线置高*/}delay(5); /*延时90us供DA18B20采样*/DQ=1; /*释放DQ总线*/_nop_();_nop_();EA=1;}/***********************************************************写一字节数据子程序***********************************************************/void write_byte(unsigned char val){unsigned char i;unsigned char temp;EA=0; /*关中断*/TR0=0;for(i=0;i<8;i++) /*写一字节数据，一次写一位*/{temp=val>>i; /*移位操作，将本次要写的位移到最低位*/temp=temp&1;write_bit(temp); /*向总线写该位*/}delay(7); /*延时120us后*/// TR0=1;EA=1; /*开中断*/}/***********************************************************读一位数据子程序***********************************************************/unsigned char read_bit(){unsigned char i,value_bit;EA=0;DQ=0; /*拉低DQ，开始读时序*/_nop_();_nop_();DQ=1; /*释放总线*/for(i=0;i<2;i++){}value_bit=DQ;EA=1;return(value_bit);}/***********************************************************读一字节数据子程序***********************************************************/unsigned char read_byte(){unsigned char i,value=0;EA=0;for(i=0;i<8;i++){if(read_bit()) /*读一字节数据，一个时序中读一次，并作移位处理*/value|=0x01<<i;delay(4); /*延时80us以完成此次都时序，之后再读下一数据*/}EA=1;return(value);}/***********************************************************复位子程序***********************************************************/unsigned char reset(){unsigned char presence;EA=0;DQ=0; /*拉低DQ总线开始复位*/delay(30); /*保持低电平480us*/DQ=1; /*释放总线*/delay(3);presence=DQ; /*获取应答信号*/delay(28); /*延时以完成整个时序*/EA=1;return(presence); /*返回应答信号，有芯片应答返回0,无芯片则返回1*/}/***********************************************************获取温度子程序***********************************************************/void get_temper(){unsigned char i,j;do{i=reset(); /*复位*/}while(i!=0); /*1为无反馈信号*/i=0xcc; /*发送设备定位命令*/write_byte(i);i=0x44; /*发送开始转换命令*/write_byte(i);delay(180); /*延时*/do{i=reset(); /*复位*/}while(i!=0);i=0xcc; /*设备定位*/write_byte(i);i=0xbe; /*读出缓冲区内容*/write_byte(i);j=read_byte();i=read_byte();i=(i<<4)&0x7f;s=(unsigned int)(j&0x0f);s=(s*100)/16;j=j>>4;temper=i|j; /*获取的温度放在temper中*/}/*====================================================================================================Initialize PID Structure=====================================================================================================*/void PIDInit (struct PID *pp){memset ( pp,0,sizeof(struct PID));}/*====================================================================================================PID计算部分=====================================================================================================*/unsigned int PIDCalc( struct PID *pp, unsigned int NextPoint ){unsigned int dError,Error;Error = pp->SetPoint - NextPoint; // 偏差pp->SumError += Error; // 积分dError = pp->LastError - pp->PrevError; // 当前微分pp->PrevError = pp->LastError;pp->LastError = Error;return (pp->Proportion * Error//比例+ pp->Integral * pp->SumError //积分项+ pp->Derivative * dError); // 微分项}/***********************************************************温度比较处理子程序***********************************************************/compare_temper(){unsigned char i;if(set_temper>temper){if(set_temper-temper>1){high_time=100;low_time=0;}else{for(i=0;i<10;i++){ get_temper();rin = s; // Read Inputrout = PIDCalc ( &spid,rin ); // Perform PID Interation}if (high_time<=100)high_time=(unsigned char)(rout/800);elsehigh_time=100;low_time= (100-high_time);}}else if(set_temper<=temper){if(temper-set_temper>0){high_time=0;low_time=100;}else{for(i=0;i<10;i++){ get_temper();rin = s; // Read Inputrout = PIDCalc ( &spid,rin ); // Perform PID Interation}if (high_time<100)high_time=(unsigned char)(rout/10000);elsehigh_time=0;low_time= (100-high_time);}}// else// {}}/*****************************************************T0中断服务子程序，用于控制电平的翻转 ,40us*100=4ms周期******************************************************/void serve_T0() interrupt 1 using 1{if(++count<=(high_time))output=1;else if(count<=100){output=0;}elsecount=0;TH0=0x2f;TL0=0xe0;}/*****************************************************串行口中断服务程序，用于上位机通讯******************************************************/void serve_sio() interrupt 4 using 2{/* EA=0;RI=0;i=SBUF;if(i==2){while(RI==0){}RI=0;set_temper=SBUF;SBUF=0x02;while(TI==0){}TI=0;}else if(i==3){TI=0;SBUF=temper;while(TI==0){}TI=0;}EA=1; */}void disp_1(unsigned char disp_num1[6]){unsigned char n,a,m;for(n=0;n<6;n++){// k=disp_num1[n];for(a=0;a<8;a++){clk=0;m=(disp_num1[n]&1);disp_num1[n]=disp_num1[n]>>1;if(m==1)data1=1;elsedata1=0;_nop_();clk=1;_nop_();}}}/*****************************************************显示子程序功能：将占空比温度转化为单个字符，显示占空比和测得到的温度******************************************************/void display(){unsigned char code number[]={0xfc,0x60,0xda,0xf2,0x66,0xb6,0xbe,0xe0,0xfe,0xf6};unsigned char disp_num[6];unsigned int k,k1;k=high_time;k=k%1000;k1=k/100;if(k1==0)disp_num[0]=0;elsedisp_num[0]=0x60;k=k%100;disp_num[1]=number[k/10];disp_num[2]=number[k%10];k=temper;k=k%100;disp_num[3]=number[k/10];disp_num[4]=number[k%10]+1;disp_num[5]=number[s/10];disp_1(disp_num);}/***********************************************************主程序***********************************************************/main(){unsigned char z;unsigned char a,b,flag_2=1,count1=0;unsigned char phil[]={2,0xce,0x6e,0x60,0x1c,2};TMOD=0x21;TH0=0x2f;TL0=0x40;SCON=0x50;PCON=0x00;TH1=0xfd;TL1=0xfd;PS=1;EA=1;EX1=0;ET0=1;ES=1;TR0=1;TR1=1;high_time=50;low_time=50;PIDInit ( &spid ); // Initialize Structurespid.Proportion = 10; // Set PID Coefficientsspid.Integral = 8;spid.Derivative =6;spid.SetPoint = 100; // Set PID Setpointwhile(1){if(plus==0){EA=0;for(a=0;a<5;a++)for(b=0;b<102;b++){}if(plus==0){set_temper++;flag=0;}}else if(subs==0){for(a=0;a<5;a++)for(b=0;a<102;b++){}if(subs==0){set_temper--;flag=0;}}else if(stop==0){for(a=0;a<5;a++)for(b=0;b<102;b++){}if(stop==0){flag=0;break;}EA=1;}get_temper();b=temper;if(flag_2==1)a=b;if((abs(a-b))>5)temper=a;elsetemper=b;a=temper;flag_2=0;if(++count1>30){display();count1=0;}compare_temper();}TR0=0;z=1;while(1){EA=0;if(stop==0){for(a=0;a<5;a++)for(b=0;b<102;b++){}if(stop==0)disp_1(phil);// break;}EA=1;}}//DS18b20 子程序#include <REG52.H>sbit DQ=P2^1; //定义端口typedef unsigned char byte;typedef unsigned int word;//延时void delay(word useconds){for(;useconds>0;useconds--);}//复位byte ow_reset(void){byte presence;DQ=0; //DQ低电平delay(29); //480usDQ=1; //DQ高电平delay(3); //等待presence=DQ; //presence信号delay(25);return(presence);} //0允许，1禁止//从1-wire 总线上读取一个字节byte read_byte(viod){byte i;byte value=0;for (i=8;i>0;i--){value>>=1;DQ=0;DQ=1;delay(1);if(DQ)value|=0x80;delay(6);}return(value);}//向1-wire总线上写一个字节void write_byte(char val){byte i;for (i=8;i>0;i--) //一次写一个字节{DQ=0;DQ=val&0x01;delay(5);DQ=1;val=val/2;}delay(5);}//读取温度char Read_Temperature(void){union{byte c[2];int x;}temp;ow_reset();write_byte(0xcc);write_byte(0xBE);temp.c[1]=read_byte();temp.c[0]=read_byte();ow_reset();write_byte(0xCC);write_byte(0x44);return temp.x/2;}