28333_TMS320F28335_PID调节.docVIP

/*************************************************************************************/ #include Task_Global_h.h /*****************************************************************/ extern void AdcComputer_HighSpeed(void); extern void WaveRecorder(void); /* 准备录波数据 */ #pragma CODE_SECTION(PIDInitCtrl,.UserProgramCode) void PIDInitCtrl(void) { Sys.PID.Ukn_0 = 4000000; Sys.PID.Ukn_1 = 4000000; Sys.PID.Ukn_2 = 4000000; Sys.PID.Ien_0 = 0; Sys.PID.Ien_1 = 0; Sys.PID.Ien_2 = 0; Sys.PID.Uk = 4000; OS_ENTER_CRITICAL(); Sys.EnF0Reg.bit.PWM_Enable = OFF; OS_EXIT_CRITICAL(); } /****************************************************************************/ // PID输出到PWM最后输出的转换 /****************************************************************************/ #pragma CODE_SECTION(Transition,.UserProgramCode) void Transition(int16 Uk) { int32 Temp; Uint16 Temp1, Temp2; if(Uk UkMax)Uk = UkMax; if(Uk UkMin)Uk = UkMin; Temp = Uk; Temp1 = (Sys.PWMCon.PR 1) - 125; Temp2 = (Uint16)((Temp * Sys.PWMCon.PR) / 20000); if(Temp2 Temp1)Temp2 = Temp1; Sys.PID.Uc = Temp2; } /****************************************************************************/ // PID 参变量求值 /****************************************************************************/ #pragma CODE_SECTION(PID_Par,.UserProgramCode) void PID_Par(int32 Kp, int32 Ti, int32 Td) { int32 Ts; // 时间常数 Ts = 50; // 运算周期 50 us Sys.PID.A = (Ts * Ts) + (Td * Ti) + (Ts * Ti); Sys.PID.B = ((Ts * Ts) - (Td * Ti)) 1; Sys.PID.C = (Ts * Ts) + (Td * Ti) - (Ts * Ti); Sys.PID.S = Ts * Ti; Sys.PID.Kp = Kp; } /****************************************************************************/ // 使双线性变换算子处于 零 状态响应, 大电流模式下 /****************************************************************************/ #pragma CODE_SECTION(SetZeroState,.UserProgramCode) void SetZeroState(void) { Sys.PID.Ukn_2 = Sys.PID.Ukn_0; Sys.PID.Ukn_1 = Sys.PID.Ukn_0; Sys.PID.Ien_0 = Sys.PID.If * Sys.PID.Kp; Sys.PID.I