算机控制技术与系统课程设计报告-DDC单回路PID闭环控制系统的设计及实时仿真

课程设计报告(2013--2014年度第2学期)名称：计算机控制技术与系统题目：DDC单回路PID闭环控制系统的设计及实时仿真PID飞升曲线绘制程序#include<graphics.h>#include<stdio.h>#include<dos.h>#include<conio.h>/*理想PID参数定义*/#defineKp11.0 /*比例增益1.0*/#defineT11 /*采样周期1.0s*/#defineTi110.0 /*积分时间10.0s*/#defineTd15.0 /*微分时间5.0s*/#defineTf10 /*惯性时间0.0s*/#defineC11(Tf1/(T1+Tf1)) /*增量型PID运算系数*/#defineC21(Kp1*T1*(1+T1/Ti1+Td1/T1)/(T1+Tf1))#defineC31(0-Kp1*T1*(1+2*Td1/T1)/(T1+Tf1))#defineC41(Kp1*Td1/(T1+Tf1))/*实际PID参数定义*/#defineKp21.0 /*比例增益1.0*/#defineT21.0 /*采样周期1.0s*/#defineTi210.0 /*积分时间10.0s*/#defineTd25.0 /*微分时间5.0s*/#defineTf22 /*惯性时间2.0s*/#defineC12(Tf2/(T2+Tf2)) /*增量型PID运算系数*/#defineC22(Kp2*T2*(1+T2/Ti2+Td2/T2)/(T2+Tf2))#defineC32(0-Kp2*T2*(1+2*Td2/T2)/(T2+Tf2))#defineC42(Kp2*Td2/(T2+Tf2))/*坐标轴定义*/#defineox40 /*原点横坐标*/#defineoy440 /*原点纵坐标*/#definexx620 /*x轴顶点横坐标*/#definexy440 /*x轴顶点纵坐标*/#definelenx580/*横轴长*/#defineleny400/*纵轴长*/#defineyx40 /*y轴顶点横坐标*/#defineyy20 /*y轴顶点纵坐标*//*定义作图区域*/#defineleft20#definetop20#defineright620#definebottom460/*坐标轴注释*/#definextext1x450#definextext1y450#defineytext1x10#defineytext1y65#definextext2x610#definextext2y450#defineytext2x10#defineytext2y20/*坐标子程序*/voidDrawAxis(void){inti;setbkcolor(7);/*背景颜色*/setcolor(5);/*线条颜色*/line(ox,oy,xx,xy); /*x_axis*/line(xx-5,xy-5,xx,xy); /*画x轴箭头*/line(xx,xy,xx-5,xy+5);line(ox,oy,yx,yy); /*y_axis*/line(yx-5,yy+10,yx,yy); /*画y轴箭头*/line(yx+5,yy+10,yx,yy);for(i=0;i<51;i++){line(ox+10*i,oy,ox+10*i,oy-10);/*刻度值值表示点*/line(ox+10*i+5,oy,ox+10*i+5,oy-5);} for(i=1;i<=10;i++) line(ox,oy-40*i,ox+10,oy-40*i);/*标x轴刻度值*/outtextxy(ox+50*0-7,oy+20,"0");outtextxy(ox+50*1-7,oy+20,"5");outtextxy(ox+50*2-7,oy+20,"10");outtextxy(ox+50*3-7,oy+20,"15");outtextxy(ox+50*4-7,oy+20,"20");outtextxy(ox+50*5-7,oy+20,"25");outtextxy(ox+50*6-7,oy+20,"30");outtextxy(ox+50*7-7,oy+20,"35");outtextxy(ox+50*8-7,oy+20,"40");outtextxy(ox+50*9-7,oy+20,"45");outtextxy(ox+50*10-7,oy+20,"50");/*标y轴刻度值*/ outtextxy(ox-20,oy-40*1,"1"); outtextxy(ox-20,oy-40*2,"2"); outtextxy(ox-20,oy-40*3,"3"); outtextxy(ox-20,oy-40*4,"4"); outtextxy(ox-20,oy-40*5,"5"); outtextxy(ox-20,oy-40*6,"6"); outtextxy(ox-20,oy-40*7,"7"); outtextxy(ox-20,oy-40*8,"8"); outtextxy(ox-20,oy-40*9,"9"); outtextxy(ox-20,oy-40*10,"10");settextstyle(SMALL_FONT,HORIZ_DIR,5); /*坐标轴坐标量注释*/outtextxy(xtext1x,xtext1y,"Time");outtextxy(xtext2x,xtext2y,"t/s");settextstyle(SMALL_FONT,VERT_DIR,5);outtextxy(ytext1x,ytext1y,"Theoutput(Response)");outtextxy(ytext2x,ytext2y,"U/V");}voidInitial_Sys(void)/*初始化*/{intgdriver=DETECT,gmode;initgraph(&gdriver,&gmode,"C:\TC20H\tc\BGI");}/**********************PID运算***********************/floatPID1(floatNew,floatSp)/*理想*/{staticfloate1[3]={0.0,0.0,0.0},u1=0.0,du1=0.0;e1[2]=e1[1]; /*数据更新*/e1[1]=e1[0];e1[0]=Sp-New;du1=C11*du1+C21*e1[0]+C31*e1[1]+C41*e1[2]; /*PID运算*/u1=u1+du1;returnu1;}floatPID2(floatNew,floatSp)/*实际*/{staticfloate2[3]={0.0,0.0,0.0},u2=0.0,du2=0.0;e2[2]=e2[1]; /*数据更新*/e2[1]=e2[0];e2[0]=Sp-New;du2=C12*du2+C22*e2[0]+C32*e2[1]+C42*e2[2];u2=u2+du2;returnu2;}/*********************绘图**************/voiddraw(floata[]){intk=5; /*x轴间距*/intx1,y1,x0,y0;inti;x0=0;y0=(int)(a[0]*25);/*规整*/for(i=1;i<100;i++){x1=x0+k;y1=(int)(a[i]*25);delay(100);setcolor(14);/*标注*/settextstyle(SMALL_FONT,HORIZ_DIR,5);outtextxy(600,20,"U");line(ox+x0,oy-y0,ox+x1,oy-y0);line(ox+x1,oy-y0,ox+x1,oy-y1);setcolor(14);outtextxy(620,20,"Sp");line(ox+x0,oy-25,ox+x1,oy-25);x0=x1; /*数据更新*/y0=y1;}}voiddraw2(floatb[]){intk=5; /*x轴间距*/intx1,y1,x0,y0;inti;x0=0;y0=(int)(b[0]*25);for(i=1;i<100;i++){x1=x0+k;y1=(int)(b[i]*25);delay(100);setcolor(6);outtextxy(600,40,"U'");line(ox+x0,oy-y0,ox+x1,oy-y0);line(ox+x1,oy-y0,ox+x1,oy-y1);setcolor(6);outtextxy(620,40,"Sp'");line(ox+x0,oy-25,ox+x1,oy-25);x0=x1; /*数据更新*/y0=y1;}}/*******************主程序********************/voidmain(void){floata[100];floatb[100];inti;for(i=0;i<100;i++){a[i]=PID1(0.0,1.0);}Initial_Sys();DrawAxis();draw(a);for(i=0;i<100;i++){b[i]=PID2(0.0,1.0);}draw2(b);}getch();实际采样显示控制程序/*------------头文件定义----------------*/#include"stdio.h"#include"math.h"#include"graphics.h" /*forgraphdriverinstalling,onlycanbecalledinTurboC*/#include"string.h"#include"dos.h"#include"bios.h"#include"conio.h" /*-------中断程序头文件--------------*/#include"stdlib.h"#include"io.h"#include"math.h"/*---------------按键地址定义-------------------*/doublekey_ESC=0x011b; /*definecannotsuitthelengthofbioskey*/doublekey_E=0x1265;doublekey_A=0x1e61;doublekey_H=0x2368;doublekey_U=0x1675;doublekey_D=0x2064;doublekey_I=0x1769;doublekey_P=0x1970;doublekey_up=0x4800;doublekey_down=0x5000;doublekey_left=0x4b00;doublekey_right=0x4d00;doublekey_pgup=0x4900;doublekey_pgdown=0x5100;/*---------------PLCD780基地址定义-------------*/#defineBASE0x220 /*pleaselookupinPCL812PGdocument*/#defineREG1/*---------------定义绘图坐标---------------*/#defineox40/*-----原点横坐标--------*/#defineoy240/*------原点纵坐标-------*/#definexx600/*------x轴顶点横坐标---*/#definexy240/*-----x轴顶点纵坐标---*/#defineyx40/*-----y轴顶点横坐标-----*/#defineyy40/*------y轴顶点纵坐标----*//*-------------PID参数定义-----------------*/floatKp=1.2;floatTi=30.0;/*9,0.6*/floatTd=4.5;floatTf0=5;floatTf=5;/*---------理想PID参数--------------*/floatT=0.2; /*---------采样时间间隔-------------*/floatad,e;floatu=0.0;floatpv=0.0;floatsp=0.0;charA_H='H'; /*-------------PID手自动状态标志------------*/charmanu;intkey=0;inttime_counter=0; /*----------------中断次数-------------*/intspt=0; /*----------------采样计数--------------*/intst_time=500; /*----------------采样次数总和（x轴范围）------------------*/intround=0;/*------------------函数声明----------------------*/voidinterrupt(*fadd1C)(void);/*-----------申明中断向量fadd1C-----------*/voidinterruptINT_1C(void); /*-----------8259中断控制函数-------------*/intscankey();/*-----------------绘图初始化----------------*/voidInitial_Sys(void);voidaxis(intround1);voidDrawline(intround1,intcj,floatpv1,floatsp1,floatu1,floate1);/*-----------PID设置及运算------------*/voidPIDset(void);floatPID(floatsp1,floatpv1,floatKp1,floatTi1,floatTd1,floatTf1,charA_H1,floatT1);/*-----------程序实现负增益三阶惯性环节------------*/floatObject(floatu1,floatT1);floatAD_convert(unsignedcharchannal); /*----------------A/D采样子函数-------------*/voidDA_convert(floatu); /*----------------D/A采样子函数-------------*/floatDelayAction(floaty0)；/*displayanddrawing*//*initiategraphdisplay*/voidInitial_Sys(void){ intGraphDriver; intGraphMode; detectgraph(&GraphDriver,&GraphMode);/*----------------------确定图形驱动程序和模式----------------*/ initgraph(&GraphDriver,&GraphMode,"C:\\TC201E\\BGI");/*-----------初始化图形系统（前两项为指针，后一项为路径）------------*/}/*drawbasiccoordinateaxis*/voidaxis(intround1){ inti; chars[3];/*-----------注意刻度位置*/ Initial_Sys(); setbkcolor(15); /*white0/black15*/ setcolor(9); /*linghtblue*/ printf("\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"); printf("-----NOTE:PID-P/I,Mode-A/H,sp/u-U/D,Kp-up/dn,Ti-left/right,Td-pgup/pgdn-----"); rectangle(10,35,630,465); /*-------------绘制矩形，对角顶点坐标（10,35），（630,465）------------*/ line(ox,oy,xx,xy); /*---------------画y轴，始点坐标（ox,oy），终点坐标（xx,xy）---------------*/ line(xx-5,xy-5,xx,xy); line(xx,xy,xx-5,xy+5); line(ox,oy+200,yx,yy); line(yx-5,yy+5,yx,yy); line(yx+5,yy+5,yx,yy); settextstyle(2,1,5); /*------------设置文本属性：字体Smallfont,横排，大小5----------------*/ outtextxy(20,150,"TheOutput(Response)"); outtextxy(20,40,"U(t)/V");/*------------输出文本----------------*/ settextstyle(2,0,5); outtextxy(300,455,"Time"); outtextxy(590,455,"t/sec"); setlinestyle(1,0,1); /*-------------------设置画线类型（dotline,none,width）-------------*/ for(i=-5;i<=5;i++) /*----eachinportstartingposition*/ line(ox,oy-40*i,ox+500,oy-40*i); for(i=-5;i<=5;i++) { sprintf(s,"%d",i); outtextxy(ox-8,oy-40*i,s); } for(i=1;i<=500/50;i++) /*scale*/ line(ox+50*i,oy+200,ox+50*i,oy-200); /*1/T=10,thatis10px=1sec*/ for(i=1;i<=500/10;i++) line(ox+10*i,oy,ox+10*i,oy-10); setlinestyle(0,0,1); /*realline,none,width*/ for(i=0;i<=10;i++) { sprintf(s,"%d",10*i+100*round1); if(round1==0) outtextxy(ox-8+i*50,oy+2,s); elseif(round1>0) outtextxy(ox-12+i*50,oy+2,s); }}/*line-drawingandnotes*/voidDrawline(intround1,intcj1,floatpv1,floatsp1,floatu1,floate1){ staticintcj_0=0,cj_1=0,pv_0=0.0,pv_1=0.0,sp_0=0.0,sp_1=0.0,u_0=0.0,u_1=0.0,e_0=0.0,e_1=0.0; cj_1=cj1-500*round1; /*Xcoordinate*/ if(cj_1==0) cj_0=0; pv_1=(int)(pv1*40); sp_1=(int)(sp1*40); u_1=(int)(u1*40); e_1=(int)(e1*40); setcolor(2); /*green*/ line(ox+cj_0,oy-pv_0,ox+cj_1,oy-pv_1); outtextxy(590,40,"pv"); setcolor(8); /*darkgray*/ line(ox+cj_0,oy-sp_0,ox+cj_1,oy-sp_1); outtextxy(590,55,"sp"); setcolor(3); /*cyan*/ line(ox+cj_0,oy-u_0,ox+cj_1,oy-u_1); outtextxy(590,70,"u"); setcolor(4); /*red*/ line(ox+cj_0,oy-e_0,ox+cj_1,oy-e_1); outtextxy(590,85,"e"); cj_0=cj_1; pv_0=pv_1; sp_0=sp_1; u_0=u_1; e_0=e_1;}/*resetinterruptcontroller*/voidinterruptINT_1C(void){ time_counter++; outportb(0x20,0x20);/*--------重置8259中断控制器,表明中断结束----------*/}/*keyboardinputdetection*/intscankey(void){ intkey0; key0=bioskey(1); /*----------查询是否按下按键，按下则返回非零值-----------*/ if(key0!=0) key0=bioskey(0); /*---------返回按键键值--------*/ returnkey0;}/*------------------按键控制PID子程序--------------------*/voidPIDset(void){ key=scankey();/*------------------按键扫描----------------*/ if(A_H=='H') { if(key==key_up)/*--------手动状态通过按键↑↓改变比例增益kp----------*/ Kp+=0.2; elseif(key==key_down) Kp-=0.2; elseif(key==key_left)/*-------手动状态通过按键→←改变积分时间Ti-----------*/ Ti-=0.2; elseif(key==key_right) Ti+=0.2; elseif(key==key_pgup)/*------手动状态通过按键pguppgdn改变微分时间Td-----*/ Td+=0.2; elseif(key==key_pgdown) Td-=0.2; elseif(key==key_U) /*-------手动状态通过按键UD改变阶跃输出-------*/ manu='+'; elseif(key==key_D) manu='-'; } if(A_H=='A') { if(key==key_U)/*-----------自动状态按键UD改变设定值sp----------*/ sp+=1; if(key==key_D) sp-=1; } if(key==key_E||key==key_ESC)/*-----------按键ESCE控制程序退出----------*/ {closegraph();exit(1);} if(key==key_A) A_H='A';/*-----------手自动标志----------*/ if(key==key_H) A_H='H'; if(key==key_I) Tf=0;/*---------理想，实际PID标志----------*/ if(key==key_P) Tf=Tf0;}/*---------------------配置PID模块子程序--------------------*/floatPID(floatsp1,floatpv1,floatKp1,floatTi1,floatTd1,floatTf1,charA_H1,floatT1){intdeath=0.001,A=5,k=0; floatdelta_u,u0,C1,C2,C3,C4; staticfloate1,e2,u1,delta_u1; if(Kp1<0||Ti1<0||Td1<0) printf("error."); else { C1=Tf1/(T1+Tf1); C2=Kp1*T1*(1+T1/Ti1+Td1/T1)/(T1+Tf1); C3=-Kp1*T1*(1+2*Td1/T1)/(T1+Tf1); C4=Kp1*Td1/(T1+Tf1); if(A_H1=='A') /*--------------按下按键A，PID处于自动状态---------------*/ { e=pv1-sp1; if(abs(e)<death)return;/*----------死区---------------*/ if(fabs(e)>A) k=10000;/*----------------积分分离算法（偏差较大不积分）---------------*/ else k=1; delta_u=C1*delta_u1+C2*e+C3*e1+C4*e2; u0=u1+delta_u; if(abs(u0)>5)/*------------抗积分饱和-------------*/ k=1;Ti=Ti*k; e2=e1; e1=e; delta_u1=delta_u; u1=u0; returnu0; } elseif(A_H1=='H') /*--------------按下按键H，PID处于手动状态---------------*/ { if(manu=='+') u+=1; if(manu=='-') u-=1; u1=u; e=0; sp1=pv1; /*PID处于手动状态，设定值跟踪PV*/sp=pv1; e1=0; e2=0; delta_u1=0; returnu; } }}/*三阶负增益对象*/floatObject(floatu1,floatT1){/*G(s)=-3/(4.7s+1)^3,K=-3,Tp1=Tp2=Tp3=4.7*/ staticfloaty1,y2,y3; floaty;y=(103.82*y3-(311.469+66.27*T1)*y2+(311.469+132.54*T1+14.1*T1*T1)*y1-3*T1*T1*T1*u1)/(103.82+66.27*T1+14.1*T1*T1+T1*T1*T1); y3=y2; y2=y1;y1=y; returny;}/*mainprogram*/voidmain(void){ disable();/*----------------关闭中断------------*/ fadd1C=getvect(0x1C);/*------取得中断向量入口地址------------*/ setvect(0x1C,INT_1C);/*----------设置中断向量入口------------*/ enable();/*----------------开启中断------------*/drawcycle: axis(round); while(spt<st_time*(round+1)) { if((spt*T)<(time_counter/18.2))/*----------------定时输出，定时采样------------*/ { ad=AD_convert(0); /*----------------对二阶惯性环节输出进行采样-------*/ pv=DelayAction(ad);/*----------------采样值进行延时--------------*/ PIDset(); u=PID(sp,pv,Kp,Ti,Td,Tf,A_H,T); DA_convert(u); /*pv=Object(u,T);*/ /*pv=DelayAction(pv);*/ Drawline(round,spt,pv,sp,u,e);/*--------------绘制过度过程曲线----------*/ manu=0; /*statusbar,atthetopofthescreen*/ gotoxy(1,1);/*-------------设置光标位置(1,1)------------------*/ if(Tf==0) printf("IdealPID,Mode:%c\t\tKp=%.2f,Ti=%.2f,Td=%.2f\t\n",A_H,Kp,Ti,Td); elseif(Tf>0) printf("ParallalPID,Mode:%c\tKp=%.2f,Ti=%.2f,Td=%.2f\t\n",A_H,Kp,Ti,Td); elseprintf("