模糊PID控制溫控系統(tǒng)設(shè)計C語言程序代碼

1、/*模糊PID控制溫控系統(tǒng)仿真設(shè)計C程序代碼*/#include<reg52.h>#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= P31; sbit KEY3= P32

2、;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;/* 函數(shù)功能：延時*/void delay_ms(uchar z) uchar i; uchar

3、 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;void Show_Num(uchar x,u

4、char y,uchar n,float num) uchar a3; uchar i; uint Temp; Temp=(int)num; for(i=0;i<n;i+) ai = Temp%10; Temp = Temp/10; if(y%2 = 1) LCD_WriteCOM(0x80+x); else LCD_WriteCOM(0x80+0x40+x); for(i=n;i>0;i-) LCD_WriteData(ai-1+0x30); void Show_Ki(uchar num_Ki)uchar Temp;num_Ki=Ki*100;Temp=(uchar)num_Ki

5、; Show_Num(10,2,1,Temp%10);Temp=Temp/10;Show_Num(9,2,1,Temp%10); Temp=Temp/10;Show_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);

6、 LCD_WriteCOM(0x06); LCD_WriteCOM(0x01);/* 函數(shù)功能：顯示函數(shù)*/void LCD_display(void) 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,&#

7、39;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(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'); del

8、ay_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(14,2,2,Kd); delay_us(10);/* 函數(shù)功能：定時器2初始化*/void Timer2_Init() RCAP2H =(65536-300)/25

9、6; RCAP2L =(65536-300)%256; TH2 = RCAP2H; TL2 = RCAP2L; ET2 = 1; TR2 = 1; EA = 1;/* 函數(shù)功能：鍵盤掃描，調(diào)整設(shè)置溫度*/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);if(KEY2=0)delay_ms(1);if(KEY2=0)if(S_temp>0)S_temp=S_temp-1;else if(S_temp<=0)S_te

10、mp=0;while(!KEY2);if(KEY3=0) delay_ms(1);if(KEY3=0)if(S_temp<=190)S_temp=S_temp+10;while(!KEY3); if(KEY4=0) delay_ms(1);if(KEY4=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);/* 函數(shù)功能：PID的計算*/void PID_Calculate() Err = S_temp - P_temp;

11、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; /* 函數(shù)功能：PID參數(shù)Kp的計算 */ float fuzzy_kp(float e, float ec)/e,ec，表示誤差，誤差變化率 float Kp_calcu;uchar num,pe,pec; float code eRule7=-3.0,

12、-2.0,-1.0,0.0,1.0,2.0,3.0; /誤差E的模糊論域float code ecRule7=-3.0,-2.0,-1.0,0.0,1.0,2.0,3.0; /誤差變化率EC的模糊論域float eFuzzy2=0.0,0.0; /隸屬于誤差E的隸屬程度float ecFuzzy2=0.0,0.0; /隸屬于誤差變化率EC的隸屬程度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;/隸屬于Kp的隸屬程度int code KpRule77= /Kp的模糊控制表3,3,3,3,3,

13、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; /*誤差E隸屬函數(shù)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

14、-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(eRule5&

15、lt;=e && e<eRule6)eFuzzy0 = (eRule6-e)/(eRule6-eRule5);pe = 5;elseeFuzzy0 =0.0;pe =5; eFuzzy1 =1.0 - eFuzzy0;/*誤差變化率EC隸屬函數(shù)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

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

17、c && ec<ecRule5) ecFuzzy0 = (ecRule5-ec)/(ecRule5-ecRule4); pec=4; else if(ecRule5<=ec && ec<ecRule6) ecFuzzy0 = (ecRule6-ec)/(ecRule6-ecRule5); pec=5; elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0; /*查詢模糊規(guī)則表*/num =KpRulepepec;KpFuzzynum += eFuzzy0*ecFuzzy0;num =KpRule

18、pepec+1;KpFuzzynum += eFuzzy0*ecFuzzy1;num =KpRulepe+1pec;KpFuzzynum += eFuzzy1*ecFuzzy0;num =KpRulepe+1pec+1;KpFuzzynum += eFuzzy1*ecFuzzy1;/*加權(quán)平均法解模糊*/ Kp_calcu=KpFuzzy0*kpRule0+KpFuzzy1*kpRule1+KpFuzzy2*kpRule2+KpFuzzy3*kpRule3;return(Kp_calcu);/* 函數(shù)功能：PID參數(shù)Ki的計算 */ float fuzzy_ki(float e, float

19、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;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;int code KiRule77= 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

20、,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; /*誤差隸屬函數(shù)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-eRule1);pe = 1;else

21、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(eRule5<=e && e<

22、;eRule6)eFuzzy0 = (eRule6-e)/(eRule6-eRule5);pe = 5;elseeFuzzy0 =0.0;pe =5; eFuzzy1 =1.0 - eFuzzy0;/*誤差變化隸屬函數(shù)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 && ec<ecRule

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

24、e5) ecFuzzy0 = (ecRule5-ec)/(ecRule5-ecRule4); pec=4; else if(ecRule5<=ec && ec<ecRule6) ecFuzzy0 = (ecRule6-ec)/(ecRule6-ecRule5); pec=5; elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0; /*查詢模糊規(guī)則表*/num =KiRulepepec;KiFuzzynum += eFuzzy0*ecFuzzy0;num =KiRulepepec+1;KiFuzzynum += eF

25、uzzy0*ecFuzzy1;num =KiRulepe+1pec;KiFuzzynum += eFuzzy1*ecFuzzy0;num =KiRulepe+1pec+1;KiFuzzynum += eFuzzy1*ecFuzzy1;/*加權(quán)平均法解模糊*/ Ki_calcu=KiFuzzy0*kiRule0+KiFuzzy1*kiRule1+KiFuzzy2*kiRule2+KiFuzzy3*kiRule3; return(Ki_calcu);/* 函數(shù)功能：PID參數(shù)Kd的計算 */ float fuzzy_kd(float e, float ec) float Kd_calcu;ucha

26、r 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;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;int code KdRule77=3,3,3,2,2,2,2,2,2,2,1,1,1,1,1,1,2,1,1,2,1,1,1,0,1,0,1,1,1

27、,1,0,0,0,1,1,2,2,1,0 ,1,1,1,3,3,3,3,2,3,2; /*誤差隸屬函數(shù)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-eRule1);pe = 1;else if(eRule2<=e &&

28、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(eRule5<=e && e<eRule6)eFuzzy0 = (eRule6-e

29、)/(eRule6-eRule5);pe = 5;elseeFuzzy0 =0.0;pe =5; eFuzzy1 =1.0 - eFuzzy0; /*誤差變化隸屬函數(shù)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 && ec<ecRule2)ecFuzzy0 = (ecRule2 - ec

30、)/(ecRule2-ecRule1);pec = 1;else if(ecRule2<=ec && ec<ecRule3)ecFuzzy0 = (ecRule3 - ec)/(ecRule3-ecRule2);pec = 2 ; else if(ecRule3<=ec && ec<ecRule4) ecFuzzy0 = (ecRule4-ec)/(ecRule4-ecRule3); pec=3; else if(ecRule4<=ec && ec<ecRule5) ecFuzzy0 = (ecRule5-ec

31、)/(ecRule5-ecRule4); pec=4; else if(ecRule5<=ec && ec<ecRule6) ecFuzzy0 = (ecRule6-ec)/(ecRule6-ecRule5); pec=5; elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0; /*查詢模糊規(guī)則表*/num =KdRulepepec;KdFuzzynum += eFuzzy0*ecFuzzy0;num =KdRulepepec+1;KdFuzzynum += eFuzzy0*ecFuzzy1;num =KdRule

32、pe+1pec;KdFuzzynum += eFuzzy1*ecFuzzy0;num =KdRulepe+1pec+1;KdFuzzynum += eFuzzy1*ecFuzzy1;/*加權(quán)平均法解模糊*/ Kd_calcu=KdFuzzy0*kdRule0+KdFuzzy1*kdRule1+KdFuzzy2*kdRule2+KdFuzzy3*kdRule3; return(Kd_calcu);/*函數(shù)功能：AD將采集到的溫度進行轉(zhuǎn)化*/uint read_tlc2543(uchar port) static uchar PORT = 0; uchar Temp,i,k=0; uint AD_value=0; Temp = port; CS = 1; CLK = 0; Temp<<=4; CS = 0; while(1) for(i=0;i<8;i+) CLK = 0; if(Temp&0x80) SDI = 1; else SDI =