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1、*/* 程序名：PWM 直流电机调速 */* 晶振：11.00592 MHz CPU 型号：AT89C51 */* 直流电机的 PWM 波控制，可以直接的调速从 0 到 20 级的调速 */*/ #include#define TH0_TL0 (65536-1000)/设定中断的间隔时长unsigned char count0 = 50;/低电平的占空比unsigned char count1 = 0;/高电平的占空比bit Flag = 1;/电机正反转标志位,1 正转，0 反转sbit Key_add=P2 0; /电机减速sbit Key_dec=P2 1; /电机加速sbit Key_
2、turn=P2 2; /电机换向sbit PWM1=P26;/PWM 通道 1，反转脉冲sbit PWM2=P27;/PWM 通道 2，正转脉冲unsigned char Time_delay;/*函数声明*/void Delay(unsigned char x);void Motor_speed_high(void);void Motor_speed_low(void);void Motor_turn(void);void Timer0_init(void);/*延时处理*/void Delay(unsigned char x)Time_delay = x;while(Time_delay
3、!= 0);/等待中断，可减少 PWM 输出时间间隔/*按键处理加 pwm 占空比，电机加速*/void Motor_speed_high(void)/if(Key_add=0)Delay(10); if(Key_add=0)count0 += 5;if(count0 = 100)count0 = 100; while(!Key_add);/等待键松开/*按键处理减 pwm 占空比，电机减速*/void Motor_speed_low(void)if(Key_dec=0)Delay(10);if(Key_dec=0)count0 -= 5;if(count0 = 100)count1=0;el
4、se /电机反转PWM2 = 0; if(+count1 = 100)count1=0;/-#include / SFR declarations#include / Function Prototypes/-#define CMD_RESET 0xA4 /HD7279 复位#define DECODE1 0xc8 /方式 0 译码sbit cs=P13;sbit clk=P12;sbit dat=P11;sbit key=P10;sbit led_D1003=P07;sbit sw1=P17;sbit sw2=P16;sbit sw3=P15;sbit sw4=P14;void long_d
5、elay(void); /延时函数void short_delay(void);void delay10ms(unsigned char);void write7279(unsigned char,unsigned char); /HD7279 写指令void send_byte(unsigned char); void delay(unsigned char);void disp1(unsigned int);void OSCILLATOR_Init (void);void PORT_Init (void);void PCA0_Init (void);void Timer0_Init(voi
6、d);void Ext_Interrupt_Init (void);/-/ Global Variables/-/-/ main() Routine/-unsigned int CEX0_Compare_Value; / Holds current PCA compare valueunsigned int tmr,Speed_evaluate; unsigned char num,num1,num2,num3,a;unsigned int Speed,pi,Speed2; unsigned int Speed110; typedef struct double SetPoint; /* 设定
7、目标Desired Value */ double Proportion; /* 比例常数Proportional Const */ double Integral; /* 积分常数Integral Const */ double Derivative; /* 微分常数 Derivative Const */ double LastError; /* 前一项误差*/ double PrevError; /* 前第二项误差*/double SumError; /* 误差和*/ PID; double PIDCalc( PID *pp, double NextPoint ) double dErr
8、or,Error,Pout; Error = pp-SetPoint - NextPoint; /* ? */ pp-SumError += Error; /* ?/ dError = pp-LastError - pp-PrevError; /* ? */ pp-PrevError = pp-LastError; pp-LastError = Error; /* ? */ Pout= pp-Proportion * Error + pp-Integral * pp-SumError + pp-Derivative * dError ;if(Pout1100)Pout=1000;if(Pout
9、8;EIE1 |= 0x10; / Enable PCA interrupts / Start PCA counterCR = 1; void Ext_Interrupt_Init (void)TCON |= 0x05; / /INT 0 and /INT 1 are edge triggered IT01CF = 0x10; / /INT0 active low; /INT0 on P0.0;/ /INT1 active low; /INT1 on P0.1EX0 = 1; / Enable /INT0 interrupts void Timer0_Init(void)TH0 = 0 ; /
10、 Init Timer0 High registerTL0 = 0 ; / Init Timer0 Low registerTMOD |= 0x01; / Timer0 in 16-bit mode 方式1CKCON |= 0x02; / Timer0 uses a 1:48 prescalerET0 = 1; / Timer0 interrupt enabledTCON|=0x10;/ Timer0 ON/ PCA0_ISR/-void PCA0_ISR (void) interrupt 11CCF0 = 0; / Clear module 0 interrupt flag. PCA0CPL
11、0 = (CEX0_Compare_Value PCA0CPH0 = (CEX0_Compare_Value void Timer0_ISR (void) interrupt 1 int j,sum;TF0=0; / Clear interrupt flag.a+;if (a=4)Speed1pi=Speed;if(pi=3) EX0 = 0; for(j=0;j=3)pi=0;elsepi+; TH0 = 0; / Reinit Timer0 High registerTL0 = 0; / Reinit Timer0 Low registerif(abs( sPID.SetPoint-Speed2)=5)CEX0_Compare_Value=CEX0_Compare_Value;else rIn =Speed2; for(dd=0;dd50;dd+)x=rIn; /x = 5.0 * (double)rIn / 256.0; rOut = PIDCalc ( / sumout=rOut*256/5; if(rOut=100)sumout=0;elsesumout= (0.85/1000.0)*rOut; /CEX0_
