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;//**************************************************************************************************************
;//功    能: 電機(jī)控制的PID(積分分離) PID(void)    執(zhí)行時(shí)間少于70uS/932-12MHz
;//設(shè) 計(jì) 者: 牟聯(lián)樹
;//日    期: 2003.12.28
;//版本號(hào): 1.0
;//申    明:
;//**************************************************************************************************************
$NOMOD51
    OCRAH equ 0EFh
    OCRAL equ 0EEh
    OCRBH equ 0FBh
    OCRBL equ 0FAh
    OCRCH equ 0FDh
    OCRCL equ 0FCh
    OCRDH equ 0FFh
    OCRDL equ 0FEh
    TCR21 equ 0f9h
$include (REG52.INC)
       NAME       PIDWork
    ?PR?PID?PIDWork     SEGMENT    CODE
    ?PR?PID_MUL?PIDWork SEGMENT    CODE
    ?PR?PID_out?PIDWork SEGMENT    CODE
    ?DT?PID_k?PIDWork   SEGMENT    DATA

    PUBLIC   PID_Kp,PID_Ki,PID_Kd,PID_Umax,PID_Emax
    PUBLIC   PID_U,PID_En1,PID_En2,PID_Temp,PID_TempL
   RSEG ?DT?PID_k?PIDWork
     PID_Kp: DS   2                    ;比例系數(shù)
     PID_KpL data PID_Kp+1
     PID_Ki: DS   2                    ;積分系數(shù)
     PID_KiL data PID_Ki+1
     PID_Kd: DS   2                    ;微分系數(shù)
     PID_KdL data PID_Kd+1
   PID_Umax: DS   2                    ;期望最大值設(shè)定
   PID_UmaxL data PID_Umax+1
   PID_Emax: DS   2                    ;積分分離的誤差最大值設(shè)定
   PID_EmaxL data PID_Emax+1
      PID_U: DS   2                    ;當(dāng)前的采樣值
      PID_UL data PID_U+1
    PID_En1: DS   2                    ;上一次計(jì)算的誤差值
    PID_En1L data PID_En1+1
    PID_En2: DS   2                    ;上一次計(jì)算的誤差的誤差值
    PID_En2L data PID_En2+1
   PID_Temp: DS   4                    ;計(jì)算過程中的暫存
   PID_TempL data PID_Temp+1
   PID_Temp1 data PID_Temp+2
PID_Temp1L data PID_Temp+3

   PUBLIC _PID
   RSEG ?PR?PID?PIDWork
   _PID: push acc
         push psw
        clr   c                        ;有符號(hào)減法
         mov   a,PID_UmaxL              ;計(jì)算當(dāng)前的誤差En(PID_U里暫存運(yùn)算結(jié)果)
         subb a,PID_UL
         mov   PID_UL,a
        mov   a,PID_Umax
         subb a,PID_U
         mov   PID_U,a
       jnb   acc.7,PID_k
         mov   a,PID_UL
cpl   a
add   a,#1
mov   r7,a
mov   a,PID_U
cpl   a
addc a,#0
xch   a,r7
         sjmp PID_g
PID_k: mov   r7,PID_U
         mov   a,PID_UL
PID_g: clr   c
subb a,PID_EmaxL
mov   a,r7
         subb a,PID_Emax
         jnb   acc.7,PID_a              ;如果En>Emax則轉(zhuǎn)
mov   r7,PID_KiL               ;Ki*En
         mov   r6,PID_Ki
mov   r5,PID_UL
         mov   r4,PID_U
acall PID_MUL                  ;二字節(jié)偽有符號(hào)乘法(r4-r7里暫存結(jié)果)
mov   a,PID_Temp1L             ;PID加法子程序(將結(jié)果加入輸出)
add   a,r7
mov   PID_Temp1L,a
         mov   a,PID_Temp1
         addc a,r6
mov   PID_Temp1,a
         mov   a,PID_TempL
         addc a,r5
mov   PID_TempL,a
         mov   a,PID_Temp
         addc a,r4
mov   PID_Temp,a
PID_a: mov   a,PID_En1L               ;更新PID_En1
         xch   a,PID_UL
mov   PID_En1L,a
mov   a,PID_En1
xch   a,PID_U
mov   PID_En1,a
clr   c                        ;有符號(hào)減法
         mov   a,PID_En1L               ;計(jì)算當(dāng)前的誤差差(En-En1)
         subb a,PID_UL
mov   PID_UL,a
mov   a,PID_En1
subb a,PID_U
mov   PID_U,a
         mov   r7,PID_KpL               ;+Kp*(En-En1)
mov   r6,PID_Kp
mov   r5,PID_UL
         mov   r4,PID_U
acall PID_MUL
mov   a,PID_Temp1L             ;PID加法子程序(將結(jié)果加入輸出)
add   a,r7
mov   PID_Temp1L,a
         mov   a,PID_Temp1
         addc a,r6
mov   PID_Temp1,a
         mov   a,PID_TempL
         addc a,r5
mov   PID_TempL,a
         mov   a,PID_Temp
         addc a,r4
mov   PID_Temp,a
clr   c                        ;有符號(hào)減法
         mov   a,PID_UL                 ;計(jì)算誤差差的差(En-En1-En2),同時(shí)更新En2
subb a,PID_En2L
mov   PID_En2L,a
         mov   a,PID_U
subb a,PID_En2
mov   PID_En2,a
         mov   r7,PID_KdL               ;+Kd*(En-En1-En2)
         mov   r6,PID_Kd
mov   r5,PID_En2L
         mov   r4,PID_En2
         acall PID_MUL
mov   a,PID_Temp1L             ;PID加法子程序(將結(jié)果加入輸出)
add   a,r7
mov   PID_Temp1L,a
         mov   a,PID_Temp1
         addc a,r6
mov   PID_Temp1,a
         mov   a,PID_TempL
         addc a,r5
mov   PID_TempL,a
         mov   a,PID_Temp
         addc a,r4
mov   PID_Temp,a
pop   psw
pop   acc
ret
ret
;//**************************************************************************************************************
;//功    能: 電機(jī)控制電流環(huán)的PI PI_I(void)    執(zhí)行時(shí)間少于50uS/932-12MHz
;//設(shè) 計(jì) 者: 牟聯(lián)樹
;//日    期: 2003.12.28
;//版本號(hào): 1.0
;//申    明:
;//**************************************************************************************************************
       PUBLIC _PID_out
       RSEG ?PR?PID_out?PIDWork
_PID_out: push acc
          push psw
         clr c
          mov a,r6
          rrc a
          mov r6,a
          mov a,r7
          rrc a
          mov r7,a
out_a: mov OCRAH,r6               ;PWM更新
          mov OCRAL,r7
          mov a,r7
          add a,#25
          mov OCRBL,a
          mov a,r6
          addc a,#0
          mov OCRBH,a
          orl TCR21,#080h            ;PWM更新
   out_b: pop psw
   pop acc
          ret
;//**************************************************************************************************************
;//功    能: 整形乘法 long int PID_MUL(int a,int b)    用時(shí)13.5uS/932-12MHz
;//設(shè) 計(jì) 者: 牟聯(lián)樹
;//日    期: 2003.12.28
;//版本號(hào): 1.0
;//申    明:
;//**************************************************************************************************************
PUBLIC _PID_MUL
RSEG ?PR?PID_MUL?PIDWork
_PID_MUL:
PID_MUL: push acc
         push psw
         clr f0                        ;符號(hào)判斷
         mov a,r4
         jb   acc.7,PID_Ma
         sjmp PID_Md
PID_Ma: setb f0
         mov a,r5
         cpl a
         add a,#1
         mov r5,a
         mov a,r4
         cpl a
        addc a,#0
         mov r4,a
PID_Md:; mov a,r6
        ; mov c,acc.7
         ;jnb f0,PID_Mf
        ; cpl c
PID_Mf:; mov f0,c
        ; jb   acc.7,PID_Mb
        ; sjmp PID_Mc
PID_Mb:; clr c
        ; mov a,r7
        ; subb a,#1
        ; cpl a
        ; mov r7,a
        ; mov a,r6
        ; subb a,#0
        ; cpl a
        ; mov r6,a

PID_Mc: mov a,r5
mov b,r7
  mul ab
xch a,r7
mov r3,b
mov b,r4
mul ab
add a,r3
mov r3,a
mov a,b
addc a,#0
xch a,r5
mov b,r6
mul ab
addc a,r3
xch a,r6
xch a,r5
addc a,b
xch a,r5
mov b,r4
mul ab
addc a,r5
mov r5,a
mov a,b
addc a,#0
mov r4,a
jb   f0,PID_Me
pop psw
pop acc
ret
PID_Me: mov a,r7
         cpl a
         add a,#1
         mov r7,a
         mov a,r6
         cpl a
         addc a,#0
         mov r6,a
         mov a,r5
         cpl a
         addc a,#0
         mov r5,a
         mov a,r4
         cpl a
         addc a,#0
         mov r4,a
         pop psw
         pop acc
         ret
         END

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PID 控制的51匯編程序

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