智能车制作

标题: 电机控制求指导 [打印本页]

作者: (]forever`_Y 时间: 2013-7-8 22:01
标题: 电机控制求指导
本帖最后由 (]forever`_Y 于 2013-7-8 22:14 编辑

怎么才能让加减速更线性点现在加减速老一冲一冲的很影响车子行驶时的稳定不知道程序有没问题
int IncPIDCalc(int NextPoint)
{
int iError, iIncpid; //当前误差

yy= NextPoint;
iError = sptr->SetPoint - NextPoint; //增量计算       //计算误差
iIncpid = sptr->Proportion * iError //E[k]项          当前误差计算的值
         - sptr->Integral * sptr->LastError//E[k－1]项下次误差值
         + sptr->Derivative * sptr->PrevError; //E[k－2]项预期误差值

sptr->PrevError = sptr->LastError; //存储误差，用于下次计算
sptr->LastError = iError;
xx=iError;

return(iIncpid);                         //返回增量值
}

#pragma CODE_SEG __NEAR_SEG NON_BANKED
void interrupt  66  PIT0Interrupt(void)//测速的中断程序

{

   DDRB=0XFF;
n++;
if(n>10)
{
   n=0;
   PORTB_PB4=~PORTB_PB4;
}

Pulse_Count=PACNT;
mapan=Pulse_Count;//车速度值
PITTF_PTF0=1; //定时器 0 标志位清零
PACNT=0X0000;

sptr->SetPoint =Dianji_data;
   //目标是Dianji_data
Ideal_Speed+=IncPIDCalc(Pulse_Count);

   nn=Ideal_Speed;
  if(Ideal_Speed>0&&Ideal_Speed<75)
   Ideal_Speed=75;

if(Ideal_Speed>170)

      Ideal_Speed=170;

   if(Ideal_Speed<=0)

      Ideal_Speed=0;

   ;

      PWMdian_Duty(Ideal_Speed);

   PITTF_PTF0=1;
                  //定时器 1 标志位清零

}

作者: 蓝色调 时间: 2013-7-9 09:51
同求

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