WhyCan Forum(哇酷开发者社区)

/******************************************************************************
	FILE:       FUZZY.C
	POPURSE:     
	WRITER:     Xukaiming 
	DATE:       2007.03.08
******************************************************************************/
#include "main.h"
#include "task.h"
#include "fuzzy.h"
#include "ied_ctrl.h"
#include "math.h"     
#include "x5043.h" 
#include "manctrl.h"


#define ERRORCNT  9			//误差记录
#define DERRORCNT 10		//误差变化率记录
//#define DOOROPENSPEED  -15L	//开门时的升温速度,如果低于此温度,认为电阻丝的热量完全散发出来或者开门升温
xdata long DOOROPENSPEED = -15L;
#define MAXNEGINTERG   (-200L*KI/Ki) 
extern code unsigned int K_Temp_Tab[];
typedef struct AI_CONTROL
{
	long gDest;  			//目标温度的AD值
	long CTEMP;				//开始控制温度

	long Error[ERRORCNT];			//偏差
	long dErr[DERRORCNT] ;			//偏差变化率	   
	long ECSUM;				//10S内的偏差变化率之和		    
	long SumErrLimit 	; 	//加热初值			 
	
	long PreviewOut;
	long HFDownTemp ;
	long du;
	long DoorOpenValue;	//保存炉子门状态  	 
	char LowSpeedCnt;
	unsigned int  iDestTemp;	//目标温度值
	unsigned int  iStableCnt;	//输出稳定次数
	unsigned int  iPreStabCnt;	//保存的稳定次数
};

#define  Kp		15           		//输出变量u比例因子
#define  Ki		1/10 				//衰减系数;		    
#define  KI		15

//Kp 变小的时候 ki要变大	  
xdata   struct AI_CONTROL Ai_CTRL;						  
void TaskFuzzy(void)
{
	char cnt;
	_nop_();
 	 
	if(IED.lADTemp>MAX_TEMP)        			 //超温保护
	{
		SetPWM(PWM_PITCED);	  
		return ;  
	}  
	//求偏差
	for(cnt=ERRORCNT-1;cnt>0;cnt--)
	{
		Ai_CTRL.Error[cnt]	= Ai_CTRL.Error[cnt-1];	
	}                    //保存上次偏差值  
	Ai_CTRL.Error[0]	= (long)(((Ai_CTRL.gDest-IED.lADTemp)/KC));	
	for(cnt=DERRORCNT-1;cnt>0;cnt--)
	{
		Ai_CTRL.dErr[cnt]	= Ai_CTRL.dErr[cnt-1];	
	}                  	//保存上次偏差率值
	Ai_CTRL.dErr[0] 	= Ai_CTRL.Error[0]-Ai_CTRL.Error[1];														//计算偏差变化率    
	Ai_CTRL.ECSUM  		= Ai_CTRL.dErr[0] + Ai_CTRL.dErr[1] + Ai_CTRL.dErr[2] + Ai_CTRL.dErr[3] + Ai_CTRL.dErr[4];	//10s的温升速率	  =iol		 
	if(Ai_CTRL.Error[0]<Ai_CTRL.CTEMP)      
	{  
		
		if(((Ai_CTRL.Error[0]*Ai_CTRL.dErr[0])>0) || ((Ai_CTRL.Error[0]==0) &&( Ai_CTRL.dErr[0]!=0)))   //误差变大的情况
		{ 
			Ai_CTRL.SumErrLimit +=Ai_CTRL.Error[0]; 					//误差变大的时候,求积分			
			if(Ai_CTRL.SumErrLimit<MAXNEGINTERG)						//限幅,如果超过负的最大值, 保持为负的最大值
				Ai_CTRL.SumErrLimit=MAXNEGINTERG;
			//////////////////////////////////////////////////////////// 
			Ai_CTRL.du = Ai_CTRL.Error[0]*Kp+Ai_CTRL.SumErrLimit*Ki/KI*Kp;	  	//增益抑制模式	                         //				
		}
		else              								//开环保持模式
		{
			if(((Ai_CTRL.Error[0]*Ai_CTRL.dErr[0])<0)||(Ai_CTRL.dErr[0]==0))				  	//误差变小的情况
			{		   
				Ai_CTRL.du =  Ai_CTRL.SumErrLimit*Ki/KI*Kp;                  
			}
			else
			{
				Ai_CTRL.du = Ai_CTRL.PreviewOut;	
			}
		}  							 
	}
	else	
		Ai_CTRL.du=PWM_PERIOD;      //升温

  
	if(Ai_CTRL.du<0) Ai_CTRL.du=0; 
	if(Ai_CTRL.du>PWM_PERIOD) Ai_CTRL.du=PWM_PERIOD;  
																	    
#ifdef _DEBUG   
	printf("%ld,",Ai_CTRL.CTEMP);
	printf("%ld,%ld,",Ai_CTRL.Error[0],Ai_CTRL.dErr[0] );
	printf("%ld,%ld,%d\n",Ai_CTRL.ECSUM,Ai_CTRL.SumErrLimit,(int)Ai_CTRL.du);
#endif
	SetPWM((unsigned char)Ai_CTRL.du); 
	//保存上次输出
	Ai_CTRL.PreviewOut=Ai_CTRL.du;	   

}	 
  
//functions prototype
/************************************************************************
仿人智能控制器//Humanoid Intelligent Controller
************************************************************************/

/*******************************************************************
    模糊控制数据变量
********************************************************************/
void InitFuzzy(void)
{								   
	Ai_CTRL.DoorOpenValue = 0 ;//  重新统计升温速度	 
	Ai_CTRL.LowSpeedCnt=0;
	SetPWM(PWM_PITCED);
}

/*********************************************************************
    启动高温炉
**********************************************************************/
void CtrlStove(UCHAR cOpen, long lDefTemp, UCHAR cRate)
{
	xdata  StableTempTab  psTmpTab;
    //停止				  
    SuspendTask(TASK_FUZZY);
	InitFuzzy(); 
    if(cOpen)       //启动
    {								  
	    Ai_CTRL.gDest = (((double)(0xFFFFFFUL<<2))/5000000UL)*K_Temp_Tab[lDefTemp]+20;    //将 目标 温度值 转换 为 AD值   
		Ai_CTRL.CTEMP = (1010L-lDefTemp) ; 				 							//控温范围 
        ActiveTask(TASK_FUZZY, PWM_SCAN);	
	 }										
}
/**********************************************************************
    设置PWM，PWM0控制高温炉
    16MHz时，T=2*512/16=64uS,F=42.666KHz，计数周期=256，占空比=0%--99.61%
***********************************************************************/
sbit POUT = P1^3;
char gcPoutTimer  = -1;

void StopPOut()
{
	POUT = 1;
}

 

void SetPWM(UCHAR cPeriod)
{   
	/*  
	CMOD  = 0x00; 					// Setup PCA timer
									// Configure PCA0 Counter operating mode
	CCAP0L=CCAP0H=cPeriod;			// Set duty for TCM0
	CCON  =0x40;			
	CCAPM0=0x42;					// Set TCM0 operationg mode	 		
	*/
	long period;
	StopTimer(&gcPoutTimer); 
	POUT = 1;
	period = PWM_SCAN*cPeriod/255/10;
	if(period>0)
	{
		POUT = 0; 
		gcPoutTimer = StartTimer(TIMER_MODE_ONCEROUTINE,period,StopPOut,0);
	}
	 
}