#include?“pid_x.h“

/***?Beginheader?speed_relay*/
?void?speed_relay_X（void）
{
???float?Out_PWM;??/*繼電器的PWM輸出*/
/*********計(jì)算臨時(shí)變量****************/
???static?float?k1801w1801;
???static?float?c1?c2?f_relay?Current_Speed_Value;??
???static?float?fl_temp;
????c1=0.392699;
????c2=6.283185;

????f_relay=speed_relay;
????Current_Speed_Value=（float）errspeed_x;??????/*得到當(dāng)前的速度值*/
????
????if?（Current_Speed_Value<0.0）??/*如果當(dāng)前測(cè)量的速度值小于速度的穩(wěn)態(tài)值steady_v*/
	Out_PWM=0-f_relay;??????/*繼電器的輸出為Out_PWMsteady_c*/
????else???????????????????????????????/*如果當(dāng)前測(cè)量的速度值大于等于速度的穩(wěn)態(tài)值*/
	Out_PWM=0+f_relay;??????/*繼電器的輸出為Out_PWMsteady_c*/
?/*???	
????if（Out_PWM>10）
????	Out_PWM=10;
????if（Out_PWM<0）
????	Out_PWM=0;
?????speedmv=Out_PWM*100.0/10;
????speedsetpoint=speedpv;
*/

????/*anaOutVolts（Out_PWM）;?????????????????輸出PWM值移植到ARM9時(shí)需要
????*/
????
???/*繼電器的控制輸出*/
???input_x=?（int）Out_PWM;
???if?（（Out_PWM<=0.0）&&（speed_flag==1））//steady_c
????????????????????speed_flag=0;
????if?（（Out_PWM>0.0）&&（speed_flag==0））//steady_c
????????????{
			???????speed_crossover++;
			???????speed_flag=1;
			????????if（speed_crossover==1）
	?		??????????{
	???			????????speed_pv_max=Current_Speed_Value;
	???			????????speed_pv_min=Current_Speed_Value;
	???			????????speed_measure=1;?????
	??		???????????}
	?		????????if（speed_crossover==2）??????/*speed_crossover等于2時(shí)表示一個(gè)震蕩周期結(jié)束要完成臨界值的計(jì)算*/
	?		?????????{
	???			????????speed_crossover=0;
	???			????????speed_flag=1;
			???			speed_measure=0;
						fl_temp=speed_pv_max-speed_pv_min;
			?			fl_temp=fl_temp*c1;
			?			fl_temp=fl_temp/f_relay;
			?			k1801=fl_temp;
			?			fl_temp=（float）speed_relay_counter;
						fl_temp=fl_temp/time;????????/*為什么除以10??*/
			?			fl_temp=c2/fl_temp;
			?			w1801=fl_temp;
						speed_relay_counter=0;
			?			speed_relay_finish1++;???
						if（speed_relay_finish1==speed_relay_finsh）?/*speed_relay_finish1表示震蕩完成的次數(shù)完成四次后可以看作開(kāi)始作等幅震蕩*/
			?			??{???speed_k180=k1801;
			???			??????speed_w180=w1801;
			???		???????}
			?		???}
	????????}
????if（speed_measure==1）
????????{
			if（Current_Speed_Value>speed_pv_max）
				speed_pv_max=Current_Speed_Value;
			if（Current_Speed_Value				speed_pv_min=Current_Speed_Value;
			speed_relay_counter++;
		}
}??

static?void?speed_auto_tuning（void）
{

	???speed_relay_X（）;
		if（speed_relay_finish1==speed_relay_finsh）?/*speed_relay_finish1表示震蕩完成的次數(shù)完成四次后可以看作開(kāi)始作等幅震蕩*/

		?{	/*speed_pid_tuning=1;
			??speedmode=1;
			*/
			PID_Relay_Flag=0;
			speed_relay_finish1=0;	
		/*		
			speedKp_X=cos（3.1415926*0.25）/（speed_k180*2.0）;
			speedTd_X=（tan（3.1415926*0.25）+sqrt（tan（3.1415926*0.25）*tan（3.1415926*0.25）+1?））/（speed_w180*2）;
			speedTi_X=speedTd_X*4.0;
		*/	
			speedKp_X=540.1899;????//test
			speedTd_X=57.6351;
			speedTi_X=230.5404;	

	
		?}	
	}
	
void?PID_X（void）
{???????
??
?float?control_output;
??
??current_speed=pulse_error_x;
??
??speed_I=speed_last_I+（0+speedKp_X）*Sample_pe

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????16334??2007-05-21?17:29??motor\MotionControl--beifen.C

?????文件???????4322??2007-05-21?18:32??motor\pid_x.c

?????文件???????2193??2007-05-17?10:10??motor\pid_x.h

?????文件???????4245??2007-05-21?14:41??motor\pid_y?.c

?????文件???????2375??2007-05-17?10:11??motor\pid_y.h

?????目錄??????????0??2007-07-22?16:41??motor

-----------?---------??----------?-----??----

????????????????29469????????????????????6