1、*模糊PID控制溫控系統仿真設計C程序代碼*/#include<reg52.h>#define uchar unsigned char#define uint unsigned int#define PULSE 200#define number 0.035sbit SDO = P2A0;sbit SDI = P2A1；sbit CS = P2A2;sbit CLK = P2A3;sbit EOC = P2A4;sbit RS = P2A5;sbit RW = P2A6;sbit EN = P2A7;sbit KEY1= P3A0;sbit KEY2= P3A1;sbit KEY3

2、= P3A2;sbit KEY4= P3A3;sbit KEY5= P3A4;sbit IN1 = P3A5;sbit IN2 = P3A6;sbit ENA = P3A7;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;/*函數功能：延時*/void delay_ms(uchar z)uchar i;uc

3、har 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,uchar y,uchar n

4、,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);elseLCD_WriteCOM(0x80+0x40+x);for(i=n;i>0;i-)LCD_WriteData(ai-1+0x30);void Show_Ki(uchar num_Ki)一一uchar Temp;num_Ki=Ki*100;Temp=(uchar)num_Ki;Show_Num(10,2,1,Temp%10);

5、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);elseLCD_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);

6、/*函數功能：顯示函數*/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,'S');delay_us(10);Show_char(11,1,'T');

7、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,T);delay_us(10);Show_char(6,2,':');delay_us(10);Show_char(8,2,'.');

8、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);/*函數功能：定時器2初始化*/void Timer2_Init()RCAP2H =(65536-300)/256;RCAP2L =(65536-300)%256;TH2 = RCAP2H;TL2 = RCAP2L;ET2 = 1;TR2 = 1;EA = 1;/*函數功能：鍵盤掃描，調整設置

9、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_temp=0; while(!KEY2);if(KEY3=0)delay_ms(1);if(KEY3=0)if(S_temp<=190)S_temp=S_temp+10;while(!KEY3);

10、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);/*函數功能：PID的計算*/void PID_Calculate()Err = S_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)

11、if(U>=200)U=200;flag=1;elseU=-U;if(U>=200)U=200;flag=0;/*函數功能：PID參數Kp的計算*/Z/e,ec,表示誤差，誤差變化率float fuzzy_kp(float e, float ec)float Kp_calcu;uchar num,pe,pec;float code eRule7=-3.0,-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 域隸屆于誤差E的隸屆程度隸

12、屆于誤差變化率EC的隸屆程度/Kp的模糊子集隸屆于Kp的隸屆程度/Kp的模糊控制表float eFuzzy2=0.0,0.0;float ecFuzzy2=0.0,0.0;float code kpRule4=0.0,8.0,16.0,24.0;float KpFuzzy4=0.0,0.0,0.0,0.0;int code KpRule77=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;/*誤差E隸屆函數描述*/if(e<eRule0)eF

13、uzzy0 =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 && e<eRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2);pe = 2;else if(eRule3

14、<=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)/(eRule6-eRule5);pe = 5;else(eFuzzy0 =0.0;pe =5;eFuzzy1 =1.0 - eFuzzy0

15、;/*誤差變化率EC隸屆函數描述*/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)/(ecRule2-ecRule1);pec = 1;else if(ecRule2<=ec && ec<

16、;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)/(ecRule5-ecRule4); pec=4;else if(ecRule5<=ec && ec&l

17、t;ecRule6)( ecFuzzy0 = (ecRule6-ec)/(ecRule6-ecRule5); pec=5;else(ecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0;/*查詢模糊規則表*/num =KpRulepepec;KpFuzzynum += eFuzzy0*ecFuzzy0;num =KpRulepepec+1;KpFuzzynum += eFuzzy0*ecFuzzy1;num =KpRulepe+1pec;KpFuzzynum += eFuzzy1*ecFuzzy0;num =KpRulepe+1pec+1;KpFuzz

18、ynum += eFuzzy1*ecFuzzy1;/* 加 權 平 均 法 解 模 糊*/Kp_calcu=KpFuzzy0*kpRule0+KpFuzzy1*kpRule1+KpFuzzy2*kpRule 2+KpFuzzy3*kpRule3;return(Kp_calcu);/*函數功能：PID參數Ki的計算*/ 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

19、.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=0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0,0,1,3,3,3,3,3,3,3;/*誤差隸屆函數描述*/if(e<eRule0)eFuzzy0 =1.0;pe =

20、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 && e<eRule3)eFuzzy0 = (eRule3 -e)/(eRule3-eRule2);pe = 2;else if(eRule3<=e &&

21、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)/(eRule6-eRule5); pe = 5;else(eFuzzy0 =0.0;pe =5;eFuzzy1 =1.0 - eFuzzy0;/*誤差變化隸屆函數描述*/if(ec

22、<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)/(ecRule2-ecRule1); pec = 1;else if(ecRule2<=ec && ec<ecRule3)(ecFuzzy0 = (

23、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)/(ecRule5-ecRule4);pec=4;else if(ecRule5<=ec && ec<ecRule6)( ecFuzzy0 = (

24、ecRule6-ec)/(ecRule6-ecRule5);pec=5;elseecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0;/*查詢模糊規則表 */num =KiRulepepec;KiFuzzynum += eFuzzy0*ecFuzzy0;num =KiRulepepec+1;KiFuzzynum += eFuzzy0*ecFuzzy1;num =KiRulepe+1pec;KiFuzzynum += eFuzzy1*ecFuzzy0;num =KiRulepe+1pec+1;KiFuzzynum += eFuzzy1*ecFuzzy1;

25、/* 加 權 平 均 法 解 模 糊 */Ki_calcu=KiFuzzy0*kiRule0+KiFuzzy1*kiRule1+KiFuzzy2*kiRule2+KiFuzzy3*kiRule3;return(Ki_calcu);/*函數功能：PID參數Kd的計算*/ float fuzzy_kd(float e, float ec)float Kd_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;f

26、loat 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=3,3,3,2,2,2,2,2.2.2.1.1.1.1,1.1.2.1.1.2.1,1,1,0,1,0,1,1,1,1,0,0,0,1,1,2,2,1,0 ,1,1,1,3,3,3,3,2,3,2;/*誤差隸屆函數描述*if(e<eRule0)(eFuzzy0 =1.0; pe = 0;else if(eRule0<=e &

27、;& 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 && e<eRule3)(eFuzzy0 = (eRule3 -e)/(eRule3-eRule2);pe = 2;else if(eRule3<=e && e<eRule4)( eFuzzy0 =

28、(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)/(eRule6-eRule5);pe = 5;else(eFuzzy0 =0.0;pe =5;eFuzzy1 =1.0 - eFuzzy0;/*誤差變化隸屆函數描述*/if(ec<ecRule0)(ecFuzzy0

29、=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)/(ecRule2-ecRule1); pec = 1;else if(ecRule2<=ec && ec<ecRule3)(ecFuzzy0 = (ecRule3 - ec)/(ecRule

30、3-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)/(ecRule5-ecRule4); pec=4;else if(ecRule5<=ec && ec<ecRule6)( ecFuzzy0 = (ecRule6-ec)/(ecRule

31、6-ecRule5); pec=5;else(ecFuzzy0 =0.0;pec = 5;ecFuzzy1 = 1.0 - ecFuzzy0;/*查詢模糊規則表 */num =KdRulepepec;KdFuzzynum += eFuzzy0*ecFuzzy0;num =KdRulepepec+1;KdFuzzynum += eFuzzy0*ecFuzzy1;num =KdRulepe+1pec;KdFuzzynum += eFuzzy1*ecFuzzy0;num =KdRulepe+1pec+1;KdFuzzynum += eFuzzy1*ecFuzzy1;/* 加權平均法解模糊*/Kd_calcu=KdFuzzy0*kdRule0+KdFuzzy1*kdRule1+KdFuzzy2*kdRule 2+KdFuzzy3*kdRule3;return(Kd_calcu);/*函數功能：AD將采集到的溫度進行轉化*/ 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(Te