1、 課程設(shè)計(jì)報(bào)告( 2012 - 2013 年度第 2 學(xué)期)名 稱： 過(guò)程計(jì)算機(jī)控制 題 目： DDC串級(jí)回路PID閉環(huán)控制系統(tǒng)的設(shè)計(jì)及實(shí)時(shí)仿真院 系：自動(dòng)化 班 級(jí)：實(shí)驗(yàn)自10 學(xué) 號(hào)：1101290120 學(xué)生姓名：張超群 指導(dǎo)教師： 田 濤 設(shè)計(jì)周數(shù)： 一 周 成 績(jī)： 日期：2013 年 7 月 6 日PID參數(shù)的整定1）利用Matlab中Simulink工具搭建理想PIDPID模塊內(nèi)部結(jié)構(gòu)：整定理想PID參數(shù)為：Kp=3 Ti=15s Td=2s對(duì)象響應(yīng)曲線為:該組整定參數(shù)能夠?qū)崿F(xiàn)快速穩(wěn)定效果，整定結(jié)果較為理想。2）利用Matlab中Simulink工具搭建實(shí)際PID： PID模塊內(nèi)

2、部結(jié)構(gòu)：整定實(shí)際PID參數(shù)為：Kp=2 Ti=15s Td=4 Tf=10s對(duì)象響應(yīng)曲線為:同樣滿足快速性要求，保證系統(tǒng)穩(wěn)定。（5）實(shí)驗(yàn)結(jié)果輸出曲線繪制由程序中編寫的繪圖模塊子程序完成，同時(shí)采用按鍵實(shí)現(xiàn)了PID手自動(dòng)切換、理想PID與實(shí)際PID的切換，以及在手自動(dòng)狀態(tài)下由按鍵改變PID參數(shù)，使得調(diào)節(jié)方式更加的靈活。 3.設(shè)計(jì)結(jié)果（1）PID階躍響應(yīng)曲線調(diào)用程序，向PID模塊輸入一個(gè)階躍信號(hào)，繪出PID階躍響應(yīng)曲線如下：理想PID階躍響應(yīng)圖： 實(shí)際PID階躍響應(yīng)圖：由理想與實(shí)際PID階躍響應(yīng)對(duì)比，可知，理想微分PID算法的微分作用僅局限于一個(gè)采樣周期有一個(gè)大幅度的輸出。這樣在大的干擾作用情況下，

3、一方面會(huì)使算法中的微分不能充分發(fā)揮作用。另一方面也會(huì)對(duì)執(zhí)行機(jī)構(gòu)產(chǎn)生很大的沖擊作用。相反的，實(shí)際微分PID算法由于慣性濾波的存在，使微分作用可持續(xù)多個(gè)采樣周期，有效地避免了上述問(wèn)題的產(chǎn)生，因而具有更好的控制性能。（2）被控對(duì)象（實(shí)物搭建二階慣性環(huán)節(jié)）階躍響應(yīng)曲線上圖通過(guò)D/A輸出一個(gè)1伏左右的信號(hào)輸入模擬的被控對(duì)象（慣性環(huán)節(jié)），A/D采集對(duì)象的輸入信號(hào)及其響應(yīng)，再使D/A輸出一個(gè)幅度為2伏左右的階躍信號(hào)，同時(shí)采集輸入輸出信號(hào)。然后，D/A再反向在輸出一個(gè)幅度為2伏左右負(fù)的階躍信號(hào)，同時(shí)采集輸入輸出信號(hào)，得出仿真對(duì)象飛升特性曲線。程序中，通過(guò)按鍵實(shí)現(xiàn)模擬對(duì)象輸入信號(hào)的加減。當(dāng)按下H按鍵時(shí)，且按下U

4、鍵時(shí)，D/A輸出一個(gè)1伏階躍信號(hào)，再次按下按鍵時(shí)階躍信號(hào)累加。每次按下D鍵時(shí)，D/A輸出的階躍信號(hào)遞減1。（3）根據(jù)對(duì)象單位階躍響應(yīng)曲線求增益和慣性時(shí)間：利用切線法求對(duì)象的增益和用一階等效的慣性時(shí)間：如上圖所示做拐點(diǎn)切線，得對(duì)象增益和一階等效慣性時(shí)間分別為： Ti（4）手自動(dòng)切換：為實(shí)現(xiàn)手動(dòng)到自動(dòng)的勿擾切換，計(jì)算機(jī)需要跟蹤手操器的閥位值，使u(k-1)能夠跟蹤閥位值，此外，控制算法中的e(k-1)、e(k-2)、u(k-1)等歷史狀態(tài)清零，使切換時(shí)偏差e(k)也為0。為使e(k)=0，就要求手動(dòng)狀態(tài)時(shí)的設(shè)定值跟蹤過(guò)程的反饋量（即SP跟蹤PV）。這樣處理后，就能保證u(k)=0，實(shí)現(xiàn)手動(dòng)到自動(dòng)的

5、無(wú)擾切換。（5）設(shè)定值r、控制量u和被控對(duì)象輸出的階躍響應(yīng)曲線：理想PID自動(dòng)狀態(tài)下，閉環(huán)系統(tǒng)階躍響應(yīng)曲線：實(shí)際PID自動(dòng)狀態(tài)下，閉環(huán)系統(tǒng)階躍響應(yīng)曲線：由于微分對(duì)高頻信號(hào)具有放大作用，采用理想PID容易在系統(tǒng)引入高頻的干擾，因此在理想PID自動(dòng)狀態(tài)下，響應(yīng)曲線有非常明顯的毛刺。而實(shí)際微分PID算法中包含有一階慣性環(huán)節(jié)，具有低通濾波的性能，抗干擾能力較強(qiáng)。 4.程序清單/*-理想PID-*/*-頭文件定義-*/#include#include#include#include#include/*-截圖-*/#define IMAGEX 0 unsigned char CLOR163=0XFF,0X

6、FF,0XFF,0XAA,0X00,0X00,0X00,0XAA,0X00,0XAA,0XAA,0X00,0X00,0X00,0XAA,0XAA,0X00,0XAA,0X00,0X55,0XAA,0XAA,0XAA,0XAA,0X55,0X55,0X55,0XFF,0X55,0X55,0X55,0XFF,0X55,0XFF,0XFF,0X55,0X55,0X55,0XFF,0XFF,0X55,0XFF,0X55,0XFF,0XFF,0X00,0X00,0X00,;/*-定義繪圖坐標(biāo)(640,480)-*/#define xo 40 /*-x軸-*/ #define xf 630 #define

7、 xy 440 #define yx 40 /*-y軸-*/#define yo 440#define yf 10 /*-理想PID運(yùn)算式-*/float ipid(float kp,float td,float ti,float e3,float u1)int t=1;float u;float q0=kp*(1+t/ti+td/t);float q1=-kp*(1+2*td/t);float q2=kp*td/t;u=q0*e0+q1*e1+q2*e2+u1;return u; /*-繪圖初始化-*/void Initial_Sys(void)int GraphDriver;int Gra

8、phMode;detectgraph(&GraphDriver,&GraphMode);initgraph(&GraphDriver,&GraphMode,);cleardevice(); /*-繪制坐標(biāo)系-*/void DrawAxis(void)int i;setbkcolor(15);setcolor(5);line(xo,xy,xf,xy); /*-x軸-*/line(xf,xy,xf-5,xy+5);line(xf,xy,xf-5,xy-5);line(yx,yo,yx,yf); /*-y軸-*/line(yx,yf,yx-5,yf+5);line(yx,yf,yx+5,yf+5);

9、for(i=1;i=50;i+) /*-x軸刻度-*/if(i%5=0)line(xo+10*i,yo,xo+10*i,yo-10);elseline(xo+10*i,yo,xo+10*i,yo-5);for(i=1;i=8;i+) /*-y軸刻度-*/line(xo,yo-50*i,xo+10,yo-50*i);outtextxy(xo+50*0-7,yo+20,0);outtextxy(xo+50*1-7,yo+20,5);outtextxy(xo+50*2-7,yo+20,10);outtextxy(xo+50*3-7,yo+20,15);outtextxy(xo+50*4-7,yo+2

10、0,20);outtextxy(xo+50*5-7,yo+20,25);outtextxy(xo+50*6-7,yo+20,30);outtextxy(xo+50*7-7,yo+20,35);outtextxy(xo+50*8-7,yo+20,40);outtextxy(xo+50*9-7,yo+20,45);outtextxy(xo+50*10-7,yo+20,50);outtextxy(xo-10,yo-50*1,1);outtextxy(xo-10,yo-50*2,2);outtextxy(xo-10,yo-50*3,3);outtextxy(xo-10,yo-50*4,4);outte

11、xtxy(xo-10,yo-50*5,5);outtextxy(xo-10,yo-50*6,6);outtextxy(xo-10,yo-50*7,7);outtextxy(xo-10,yo-50*8,8);rectangle(1,5,635,470); /*畫外層大框*/ settextstyle(2,0,5);/*Small font,horiz,5 times bigger*/outtextxy(300,450,Time);outtextxy(590,450,t/sec); settextstyle(2,0,5);/*Small font,vert,5 times bigger*/outt

12、extxy(5,15,The Output (Response);outtextxy(5,40,U(t); setlinestyle(1,0,1); /*虛線*/for(i=1;i=8;i+)/*橫向虛線-y380*/line(xo,yo-50*i,xo+520,yo-50*i);for(i=1;i=0;m-) for(n=0;n640;n+) pix = getpixel(n,m); fwrite(CLORpix,3,1,fp); fclose(fp); return 1;/*-主函數(shù)-*/main()float e3=0,u2=0;int k;Initial_Sys();DrawAxis(

13、);e0=1; /*第0步*/e1=0;e2=0;u0=ipid(1,3.0,10,e,u1);setcolor(3);setlinestyle(0,0,1); line(xo,yo-u0*50,xo+10,yo-u0*50);delay(500);u1=u0;e0=1; /*第1步*/e1=1;e2=0;u0=ipid(1,3.0,10,e,u1);setcolor(3);line(xo+10,yo-u1*50,xo+10,yo-u0*50);line(xo+10,yo-u0*50,xo+20,yo-u0*50);delay(500);u1=u0;e0=1; /*第2步以后*/e1=1;e2

14、=1;for(k=2;k=50;k+)u0=ipid(1,3.0,10,e,u1);setcolor(3);line(xo+10*k,yo-u1*50,xo+10*k,yo-u0*50);line(xo+10*k,yo-u0*50,xo+10*(k+1),yo-u0*50);delay(500);u1=u0;get_img(); /*截圖*/*/*-實(shí)際PID-*/*-頭文件定義-*/#include#include#include#include#include/*-截圖-*/#define IMAGEX 0 unsigned char CLOR163=0XFF,0XFF,0XFF,0XAA

15、,0X00,0X00,0X00,0XAA,0X00,0XAA,0XAA,0X00,0X00,0X00,0XAA,0XAA,0X00,0XAA,0X00,0X55,0XAA,0XAA,0XAA,0XAA,0X55,0X55,0X55,0XFF,0X55,0X55,0X55,0XFF,0X55,0XFF,0XFF,0X55,0X55,0X55,0XFF,0XFF,0X55,0XFF,0X55,0XFF,0XFF,0X00,0X00,0X00,;/*-定義繪圖坐標(biāo)(640,480)-*/#define xo 40 /*-x軸-*/ #define xf 630 #define xy 440 #def

16、ine yx 40 /*-y軸-*/#define yo 440#define yf 10 /*-實(shí)際PID運(yùn)算式-*/float ppid(float kp,float ti,float td,float tf,float e3,float du1) int t=1; float du; float c1=tf/(t+tf); float c2=kp*t*(1+t/ti+td/t)/(t+tf); float c3=-kp*t*(1+2*td/t)/(t+tf); float c4=kp*td/(t+tf); du=c1*du1+c2*e0+c3*e1+c4*e2; return du; /

17、*-繪圖初始化-*/void Initial_Sys(void)int GraphDriver;int GraphMode;detectgraph(&GraphDriver,&GraphMode);initgraph(&GraphDriver,&GraphMode,);cleardevice(); /*-繪制坐標(biāo)系-*/void DrawAxis(void)int i;setbkcolor(15);setcolor(5);line(xo,xy,xf,xy); /*-x軸-*/line(xf,xy,xf-5,xy+5);line(xf,xy,xf-5,xy-5);line(yx,yo,yx,yf

18、); /*-y軸-*/line(yx,yf,yx-5,yf+5);line(yx,yf,yx+5,yf+5);for(i=1;i=50;i+) /*-x軸刻度-*/if(i%5=0)line(xo+10*i,yo,xo+10*i,yo-10);elseline(xo+10*i,yo,xo+10*i,yo-5);for(i=1;i=8;i+) /*-y軸刻度-*/line(xo,yo-50*i,xo+10,yo-50*i);outtextxy(xo+50*0-7,yo+20,0);outtextxy(xo+50*1-7,yo+20,5);outtextxy(xo+50*2-7,yo+20,10)

19、;outtextxy(xo+50*3-7,yo+20,15);outtextxy(xo+50*4-7,yo+20,20);outtextxy(xo+50*5-7,yo+20,25);outtextxy(xo+50*6-7,yo+20,30);outtextxy(xo+50*7-7,yo+20,35);outtextxy(xo+50*8-7,yo+20,40);outtextxy(xo+50*9-7,yo+20,45);outtextxy(xo+50*10-7,yo+20,50);outtextxy(xo-10,yo-50*1,1);outtextxy(xo-10,yo-50*2,2);outt

20、extxy(xo-10,yo-50*3,3);outtextxy(xo-10,yo-50*4,4);outtextxy(xo-10,yo-50*5,5);outtextxy(xo-10,yo-50*6,6);outtextxy(xo-10,yo-50*7,7);outtextxy(xo-10,yo-50*8,8);rectangle(1,5,635,470); /*畫外層大框*/ settextstyle(2,0,5);/*Small font,horiz,5 times bigger*/outtextxy(300,450,Time);outtextxy(590,450,t/sec); set

21、textstyle(2,0,5);/*Small font,vert,5 times bigger*/outtextxy(5,15,The Output (Response);outtextxy(5,40,U(t); setlinestyle(1,0,1); /*虛線*/for(i=1;i=8;i+)/*橫向虛線-y380*/line(xo,yo-50*i,xo+520,yo-50*i);for(i=1;i=0;m-) for(n=0;n640;n+) pix = getpixel(n,m); fwrite(CLORpix,3,1,fp); fclose(fp); return 1;/*-主函

22、數(shù)-*/main()float e3=0,u2=0,du2=0;int k;Initial_Sys();DrawAxis();e0=1; /*第0步*/e1=0;e2=0;du0=ppid(1,10,30,10,e,du1);u0=u1+du0;setcolor(3);setlinestyle(0,0,1); line(xo,yo-u0*50,xo+10,yo-u0*50);delay(500);u1=u0;du1=du0;e0=1; /*第1步*/e1=1;e2=0;du0=ppid(1,10,30,10,e,du1);u0=u1+du0;setcolor(3);line(xo+10,yo-

23、u1*50,xo+10,yo-u0*50);line(xo+10,yo-u0*50,xo+20,yo-u0*50);delay(500);u1=u0;du1=du0;e0=1; /*第2步以后*/e1=1;e2=1;for(k=2;k=50;k+)du0=ppid(1,10,30,10,e,du1);u0=u1+du0;setcolor(3);line(xo+10*k,yo-u1*50,xo+10*k,yo-u0*50);line(xo+10*k,yo-u0*50,xo+10*(k+1),yo-u0*50);delay(500);u1=u0;du1=du0;get_img(); /*截圖*/*

24、/*00-頭文件定義-*/#include stdio.h#include math.h#include graphics.h#include string.h#include dos.h#include bios.h#include conio.h /*中斷程序頭文件定義*/#include stdlib.h#include io.h/*00-按鍵地址區(qū)定義-*/ /* 鍵盤定義*/double key_ESC=0 x011b; /*退出*/ double key_E=0 x1265;double key_A=0 x1e61; /*自動(dòng)*/double key_H=0 x2368; /*手動(dòng)

25、*/double key_U=0 x1675; /*自動(dòng)時(shí)增SP，手動(dòng)時(shí)增手操器輸出*/double key_D=0 x2064; /*自動(dòng)時(shí)增SP，手動(dòng)時(shí)增手操器輸出*/double key_I=0 x1769; /*理想PID*/double key_P=0 x1970; /*實(shí)際PID*/double key_up=0 x4800; /*手動(dòng)時(shí),增Kp*/double key_down=0 x5000; /*手動(dòng)時(shí),減Kp*/double key_left=0 x4b00; /*手動(dòng)時(shí),減Ti*/double key_right=0 x4d00; /*手動(dòng)時(shí),增Ti*/double ke

26、y_pgup=0 x4900; /*手動(dòng)時(shí),增Td*/double key_pgdown=0 x5100; /*手動(dòng)時(shí),減Td*/*-PLCD780基址定義-*/#define BASE 0 x220/*-基址-*/*-截圖-*/*#define IMAGEX 0 unsigned char CLOR163=0XFF,0XFF,0XFF,0XAA,0X00,0X00,0X00,0XAA,0X00,0XAA,0XAA,0X00,0X00,0X00,0XAA,0XAA,0X00,0XAA,0X00,0X55,0XAA,0XAA,0XAA,0XAA,0X55,0X55,0X55,0XFF,0X55,

27、0X55,0X55,0XFF,0X55,0XFF,0XFF,0X55,0X55,0X55,0XFF,0XFF,0X55,0XFF,0X55,0XFF,0XFF,0X00,0X00,0X00,; */*00-定義繪圖坐標(biāo)（640,480）-*/#define ox 40/*原點(diǎn)橫坐標(biāo)*/#define oy 440 /*原點(diǎn)縱坐標(biāo)*/#define xx 600 /*x軸頂點(diǎn)橫坐標(biāo)*/#define xy 440 /*x軸頂點(diǎn)縱坐標(biāo)*/#define yx 40/*y軸頂點(diǎn)橫坐標(biāo)*/#define yy 40/*y軸頂點(diǎn)縱坐標(biāo)*/*-xx-ox=600-40=560(500)-oy-yy=440

28、-40=400(380)-*/*-PID參數(shù)定義(全局變量)-*/float Kp=3; /*全局變量*/float Ti=15;float Td=2;float Tf0=10; /*實(shí)際PID*/float Tf=0; /*理想PID*/float dead_band=0.5; /*積分分離*/float u_max=4.9; /*抗積分飽和*/float u_min=0.1; float T=0.2; /*采樣時(shí)間ms*/float pv=0; /*反饋值*/float sp=0; /*設(shè)定值*/float ad; /*A/D的讀數(shù)*/float e; /*偏差*/float u=0; /

29、*控制作用,控制器的輸出*/float u_m=0; /*手操器輸出*/char A_H=H; /*手動(dòng)-自動(dòng),開始為手動(dòng)*/char manu=0; /*用于調(diào)節(jié)u_m的增減*/int key=0; /*存鍵盤掃描結(jié)果*/int time_counter=0; /*中斷計(jì)數(shù)*/int cj_counter=0; /*采樣計(jì)數(shù)器*/int Q_counter=500; /* 采集步長(zhǎng)*/*00-函數(shù)聲明 -*/void interrupt (*fadd1C)(void); /*中斷*/void interrupt INT_1C(void);/*8259,reset interrupt cont

30、roller*/void loop(); /*主程序循環(huán)*/float AD(unsigned char channal);/*A/D*/void DA(); /*D/A*/int scankey(); /*掃描鍵盤，判斷是否有建按下*/float DelayAction(); /*軟件延遲*/void PIDset(void); /*PID設(shè)置*/float PID(void);float Object(void); /*仿真對(duì)象*/void Initial_Sys(void);/*初始化為圖形模式*/void axis(void); /*畫坐標(biāo)軸*/void Drawline(void);

31、 /*畫線*/*int get_img(void);*/*00-主函數(shù)-*/void main(void) disable(); /*保存舊中斷，設(shè)置新中斷*/fadd1C=getvect(0 x1C);/*1C為定時(shí)器控制的軟中斷,平均一秒發(fā)生18.2次，即周期為55ms 中斷程序*/ setvect(0 x1C,INT_1C); /* 開啟中斷服務(wù)*/enable();axis(); /*畫坐標(biāo)軸*/loop();/*-loop-*/void loop() doif(cj_counter*T)0)printf(Parallal,Mode:%c,sp=%.1f,pv=%2.1f,u=%.1f

32、,error=%.1f,Kp=%.1f,Ti=%.1f,Td=%.1ftr,A_H,sp,pv,u,e,Kp,Ti,Td);else printf(ttTf got a wrong value! Please exit and restart this program.r);cj_counter+; /*計(jì)數(shù)器加1*/while(cj_counter04095-*/void DA() int temp,i; unsigned char hb,lb; /*限幅 */ if (u5) u=5; else if (u0)u=0; temp=(int)(4095*u/5.0); /*轉(zhuǎn)換為0-4095

33、的數(shù)字量*/hb=temp/256; /*高4位*/lb=temp%256; /*低8位*/outportb(BASE,1); /*啟動(dòng)DA轉(zhuǎn)換*/ for(i=0;i10000;i+); outportb(BASE+4,lb); /* 低8位輸出 */ for(i=0;i05-*/float AD(unsigned char channal)float result=0;int num,i;unsigned char hb=0,lb=0,poll=0 x10;/*12bit AD/high 4 bits and low 8 bits*/outportb(BASE+11,1);/*軟件程序觸發(fā)

34、*/for(i=0;i10000;i+); outportb(BASE+10,channal);/*進(jìn)行通道設(shè)置.選擇通道0*/for(i=0;i10000;i+); outportb(BASE+9,0); /*設(shè)置增益通道增益*/for(i=0;i10000;i+); outportb(BASE+12,0);/*觸發(fā)A/D轉(zhuǎn)換*/for(i=0;i10000;i+); do /*查詢法讀PV*/poll=inportb(BASE+5);while(poll&0 x10);hb=inportb(BASE+5);for(i=0;i10000;i+); lb=inportb(BASE+4);hb=

35、hb&0 x0f; /*高4位清0*/num=lb+hb*256; /*hb左移8位加lb*/result=(num*5.0/4096-2.5)*2;/*0 V to +5V*/return result;/*00-中斷子程序-*/void interrupt INT_1C(void)time_counter+;outportb(0 x20,0 x20); /*00-掃描鍵盤-*/int scankey(void)int key0;key0=bioskey(1);/*1:無(wú)鍵按下則返回0 */if(key0!=0)key0=bioskey(0);/*0:返回按下的鍵*/return key0;

36、/*00-DelayAction-*/*將ad延遲2s作為PV，T=0.2s，于是延遲11步*/float DelayAction()float y_out;static float y_old11=0;int i;y_out=y_old10;for(i=1;i10)Kp=10; else if(key=key_down)Kp-=0.2;if(Kp0.2)Kp=0.2; else if(key=key_left)Ti-=0.2;if(Ti20)Ti=20; else if(key=key_pgup)Td+=0.2;if(Td10)Td=10; else if(key=key_pgdown)Td

37、-=0.2;if(Tddead_band) /*積分分離*/Ti=10000;elseTi=15;delta_u=C1*delta_u1+C2*e+C3*e1+C4*e2;/*delta_u1是delta_u前一時(shí)刻的值*/u0=u1+delta_u; /*當(dāng)前時(shí)刻控制器輸出*/if(uu_max) /*抗積分飽和*/Ti=10000;elseTi=15; e2=e1;e1=e;delta_u1=delta_u;u1=u0;u_m=u0; /*自動(dòng)時(shí)，手操器輸出跟蹤自動(dòng)輸出*/return u0; /*返回自動(dòng)輸出*/*手動(dòng)狀態(tài)*/else if(A_H=H)if(manu=+) /*調(diào)節(jié)手操器輸出*/u_m+=1;if(u_m5)u_m=5;if(manu=-)u_m-=1;if(u_m5)u=5;else if(u0)u=0;y1=exp(-T/4.7)*y1_1+(1-exp(-T/4.7)*u;y=exp(-T/4.7)*y_1+(1-exp(-T/4.7)*y1;y1_1=y1;y_1=y;return y;/*00-初始化為圖形模式-*/void In