直流电机PID控制----剖析

1万 · 2016-7-19 12:50

/*******************************************************************/
#include "DSP281x_Device.h"    // DSP281x Headerfile Include File
#include "DSP281x_Examples.h" // DSP281x Examples Include File
#define PERIOD 20000
/*******************************************************************/
unsigned int rc=4;    //设定转速rc (round/0.1s)必须为整数(3～5)
                     //在图形窗口观察到的是10*rc (round/s)
unsigned int curve[1000];
unsigned int int_flag=0;
unsigned int count1=0;
unsigned int count2=0;
double percent=0.0;
unsigned int i=0;
unsigned int j=0;
unsigned int k=0;
unsigned int m=0;
unsigned int n=0;
unsigned int high=0;
unsigned int low=0;
double e0,e1,e2,y0,y1,y2,x;
double Kp =3;       //3比例系数
double Ti = 1.0;    //积分时间常数
double Td = 0.2;    //微分时间常数
double T = 0.1;       //采样周期
double a0,a1,a2;
void init_xint2()             //中断pdpintb初始化子程序
{
   XIntruptRegs.XINT2CR.all=0x0001;
}
void init_timer1(void)
{
// Initialize EVA Timer 1:
// Setup Timer 1 Registers (EV A)
EvaRegs.GPTCONA.all = 0;

// Set the Period for the GP timer 1 to 0x8200;
EvaRegs.T1PR = 0xB200;    // Period
EvaRegs.T1CMPR = 0x0000;    // Compare Reg

// Enable Period interrupt bits for GP timer 1
// Count up, x128, internal clk, enable compare, use own period
EvaRegs.EVAIMRA.bit.T1PINT = 1;
EvaRegs.EVAIFRA.bit.T1PINT = 1;
// Clear the counter for GP timer 1
EvaRegs.T1CNT = 0x0000;
EvaRegs.T1CON.all = 0x1742;
// Start EVA ADC Conversion on timer 1 Period interrupt
EvaRegs.GPTCONA.bit.T1TOADC = 2;
}
interrupt void xint2_isr()       //外部中断2中断子程序
{
   count1++;                //转速计累加
  // Acknowledge interrupt to receive more interrupts from PIE group 2
  PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
   return;
}
interrupt void timer1_isr()       //定时中断子程序
{
   if(int_flag==1)
   {
   y2 = y1;
   y1 = y0;
   y0 = count1;
   e0 = rc - y0;
   e1 = rc - y1;
   e2 = rc - y2;
   percent=(a0*e0 - a1*e1 + a2*e2)*0.05;
   high+=PERIOD*percent;
   //if(high>=20000)high=20000;
   if(high<=0)high=0;
   low=PERIOD-high;
   }
   if(n==10)
   {
      curve[m]=count2;
      m++;
      n=0;
      count2=0;
   }
   n++;
   count2+=count1;
   count1=0;                //转速计清零

// Enable more interrupts from this timer
EvaRegs.EVAIMRA.bit.T1PINT = 1;
// Note: To be safe, use a mask value to write to the entire
// EVAIFRA register.  Writing to one bit will cause a read-modify-write
// operation that may have the result of writing 1's to clear
// bits other then those intended.
EvaRegs.EVAIFRA.all = BIT7;
// Acknowledge interrupt to receive more interrupts from PIE group 2
PieCtrlRegs.PIEACK.all = PIEACK_GROUP2;
   return;
}

void main()
{
int m;
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP281x_SysCtrl.c file.
InitSysCtrl();

// Disable CPU interrupts
DINT;
// Initialize PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
InitPieCtrl();

// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
InitPieVectTable();

EALLOW;
GpioMuxRegs.GPFMUX.all=0xffff;    //as xf
// GpioMuxRegs.GPBMUX.all=0x0000;    //as GPIO
// GpioMuxRegs.GPBDIR.bit.GPIOB15=1;    //GPIOB15 as output
EDIS;

// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW;  // This is needed to write to EALLOW protected registers
PieVectTable.T1PINT = &timer1_isr;
PieVectTable.XINT2 = &xint2_isr;
EDIS;
// This function is found in DSP281x_InitPeripherals.c
// InitPeripherals(); // Not required for this example

init_xint2();

init_timer1();

PieCtrlRegs.PIEIER1.all = M_INT5;  //xint2

// Enable PIE group 2 interrupt 4 for T1PINT
PieCtrlRegs.PIEIER2.all = M_INT4;
IER |= M_INT1 ;//xint2
// Enable CPU INT2 for T1PINT
IER |= M_INT2 ;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM

   for(m=0;m<1000;m++)
   {
   curve[m]=0;
   }

   a0 = Kp*(1.0 + T/Ti + Td/T);
   a1 = Kp*(1.0 + 2.0*Td/T);
   a2 = Kp*Td/T;
   e0=e1=e2=y0=y1=y2=0;
   for(i=0;i<5000;i++)    //启动电机，使之处于高速状态
   {
   for(j=0;j<5000;j++)
//    GpioDataRegs.GPBDAT.bit.GPIOB5=0;    //PWM12引脚为低
      asm(" clrc xf");
   }
   int_flag=1;

   for(;;)
   {
//    GpioDataRegs.GPBDAT.bit.GPIOB5=0;    // as low ;    //PWM12/io7引脚为低
   asm(" clrc xf");
   for(j=0;j<high;j++);
//    GpioDataRegs.GPBDAT.bit.GPIOB5=1;    // as high    //PWM12/io7引脚为高
   asm(" setc xf");
   for(k=0;k<low;k++);
   }
}