直流电机PID控制
实验一直流电机控制
1、实验目的
(1)了解直流电机控制的一般情况；
(2)掌握直流电机的H桥PWM驱动电路结构；
(3)掌握直流电机角度控制的电位器方法；
2、实验内容
直流电动机的角度测量采用360旋转电位器，模数转换采用MCP3001，H桥驱动采用L293，显示采用LCD1602，键盘采用4*4扫描键盘，实验电路图如下：
控制硬件的关键：L293的H桥驱动原理，PWM电机控制的方法；
控制程序的关键：电动机转角的采集与标度变换；给定转角的标度逆变换；PID控制程序实现；
3、实验步骤
利用PROTEUS软件画出电机控制系统的仿真原理图，在KEIL软件下对控制程序进行编译，然后下载到控制系统的单片机，进行运行调试，观察控制效果。
4、实验报告
(1) 整理好实验电路图与程序。
(2) 总结比例参数P、微分D和采样周期对控制系统性能的影响。
附：实验控制程序源代码#include
#define uchar unsigned char #define uint unsigned int
sbit CLK=P2^3;
sbit DAT=P2^4;
sbit CS =P2^5;
uint MCP3001(void) //10bit {
uint i,x=0;
DAT=1; CS=0;
for(i=0;i<12;i++)
{
CLK=1; CLK=0;
x<<=1;
if(DAT==1) x++;
}
CS=1;
return (x&0X3FF);
}
#define kd 4
#define kp 30
#define TIM1 -30000
sbit UP=P3^3;
sbit DN=P3^4;
sbit EN=P3^5;
int e0,e1,e2,y,r,u,sr;
uchar con=0;
void PID() interrupt 3
{
TH1=TIM1>>8; TL1=TIM1&0XFF; y=MCP3001();
e0=e1; e1=e2; e2=r-y;
u=kp*(e2+kd*(e2-e1));
if(u>1) {UP=10; DN=0;}
else if(u<-10) {UP=0; DN=1;} else {UP=0; DN=0;}
if(u<0) u=-u;
if(u>2550) u=2550;
con=u/10;
}
bit ppp;
void PWM() interrupt 1
{
if(ppp)
{
TH0=0XFF; TL0=con;
EN=0;
}
else
{
TH0=0XFF; TL0=-con;
EN=1;
}
ppp=!ppp;
}
#define uchar unsigned char
#define uint unsigned int
#define LCD_COM 0 // Command
#define LCD_DAT 1 // Data
sbit LcdRS=P2^0;
sbit LcdRW=P2^1;
sbit LcdEN=P2^2;
void time(uint t)
{
while(t--);
}
void LCD_WRITE(uchar x,bit WS)
{
P0=x;
LcdRW=0; LcdRS=WS;
LcdEN=1; time(100); LcdEN=0;
}
void LCD_Initial()
{
LCD_WRITE(0x38,LCD_COM); time(200);
LCD_WRITE(0x38,LCD_COM); time(200);
LCD_WRITE(0x01,LCD_COM);
time(200);
LCD_WRITE(0x06,LCD_COM);
time(200);
LCD_WRITE(0x0c,LCD_COM);
time(200);
}
void GotoXY(uchar x,uchar y)
{
uchar code table[4]={0x00,0x40,0x10,0x50};
LCD_WRITE(0x80+table[x]+y,
LCD_COM);
}
void PutCh(uchar m)
{
LCD_WRITE(m,LCD_DAT);
}
void Print(uchar *str)
{
while(*str!='\0')
{
PutCh(*str);
str++;
}
}
void PutUint(int s)
{
uchar str[10];
str[0]=(s/1000)%10+'0';
str[1]=(s/100)%10+'0';
str[2]=(s/10)%10+'0';
str[3]=(s/1)%10+'0';
str[4]=0;
Print(str);
}
void PutInt(int s)
{
uchar str[10];
if(s>=0) str[0]='+';
else {str[0]='-'; s=-s;}
str[1]=(s/100)%10+'0';
str[2]=(s/10)%10+'0';
str[3]=(s/1)%10+'0';
str[4]=0;
Print(str);
}
uchar Getkey()
{
uchar const tab[4]={1,2,4,8};
uchar const
tran[16]={7,4,1,10,8,5,2,0,9,6,3,11,1
2,13,14,15};
uchar i,m,key=0xff;
for(i=0;i<4;i++)
{
P1=~tab[i];
m=(~P1)>>4;
switch(m)
{
case 1: key=i+0; break;
case 2: key=i+4; break;
case 4: key=i+8; break;
case 8: key=i+12; break;
}
}
if(key!=0xff) key=tran[key];
return key;
}
void main()
{
long s;
uchar key;
EA=1; ET1=1; ET0=1; PT1=1;
TMOD=0X11;
TH0=0xff; TL0=0xff; TR0=1;
TH1=TIM1>>8; TL1=TIM1&0xff;
TR1=1;
LCD_Initial(); sr=0;
GotoXY(0,0); Print("D= U= ");
GotoXY(1,0); Print("Y= R= ");
while(1)
{
time(1000);
s=y; s=(s*358)/1023-179;
GotoXY(0,2); PutUint(y);
GotoXY(0,9);PutInt(con);
GotoXY(1,2); PutInt(s);
s=sr; s=(s+179)*1023/358; r=s;
GotoXY(1,9); PutInt(sr);
key=Getkey();
if(key!=0xff)
{
switch(key)
{
case 0: sr=0; break;
case 1: sr=10; break;
case 2: sr=20; break;
case 3: sr=30; break;
case 4: sr=40; break;
case 5: sr=50; break;
case 6: sr=60; break;
case 7: sr=70; break;
case 8: sr=80; break;
case 9: sr=90; break;
case 10: sr=100; break;
case 11: sr=110; break;
case 12: sr=120; break;
case 13: sr=130; break;
case 14: sr=140; break;
case 15: sr=-sr; break;
}
time(5000);
}
}
}