算机控制技术与系统课程设计报告--DDC单回路PID闭环控制系统的设计及实时仿真.docx

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1、课程设计报告（20132014年度第2学期）名称：计算机控制技术与系统题目：DDC单回路P1D闭环控制系统的设计及实时仿真/*比例增益1.0*/*采样周期1.0s*/*积分时间10.0s*/*微分时间5.0s*/*惯性时间0.0s*/#defineC11(Tf1(T1+Tf1)/*增量型PID运算系数*/P1D飞升曲线绘制程序#inc1ude#inc1ude#inc1ude#inc1ude*理想P1D参数定义*/#defineKp11.0#defineT11#defineTi110.0#defineTd15.0#defineTf10#defineC21(Kp1*T1*(1+T1Ti1+Td1T

2、1)(T1+Tf1)#defineC31(0-Kp1*T1*(1+2*Td1T1)(T1+Tf1)#defineC41(Kp1*Td1(T1+Tf1)*实际P1D参数定义*/#defineC12(Tf2(T2+Tf2)*增量型P1D运算系数*/#defineC22(Kp2*T2*(1+T2Ti2+Td2T2)(T2+Tf2)#defineC32(0-Kp2*T2*(1+2*Td2T2)(T2+Tf2)#defineC42(Kp2*Td2(T2+Tf2)/*坐标轴定义*/#defineox40#defineoy440#definexx620#definexy440#defineIenx580#d

3、efineIeny400#defineyx40#defineyy20*定义作图区域s7#define1eft20#definetop20#defineright620#definebottom460*坐标轴注释*/#definextext1x450#definextext1y450#defineytextIx10#defineytextIy65#definextext2x610#definextext2y450#defineytext2x10#defineytext2y20*坐标子程序*/voidDrawAxis(void)iti；setbkco1or(7);setco1or(5);1ine(

4、ox,oy,xx,xy);1ine(xx-5,xy-5,xx,xy);1ine(xx,xy,xx-5,xy+5);1ine(ox,oy,yx,yy);1ine(yx-5,yy+10,yx,yy);1ine(yx+5,yy+10,yx,yy);*原点横坐标*/*原点纵坐标*/*x轴顶点横坐标*/*轴顶点纵坐标*/*横轴长*/*纵轴长*/*y轴顶点横坐标*/*y轴顶点纵坐标*/*背景颜色*/*线条颜色*/*x-axis*/*画X轴箭头*/*y-axis*/*画y轴箭头*/for(i=0;i51;i+)(1ine(ox+10*i,oy,ox+10*i,oy-10);1ine(ox+10*i+5zoy

5、,ox+10*i+5,oy-5);)for(i=1;i=10;i+)1ine(ox,oy-40*i,ox+10zoy-40*i);/*标X轴刻度值*/outtextxy(ox+50*0-7,oy+20,0);/*刻度值值表示点*/outtextxy(ox+50*1-7,oy+20,5);outtextxy(ox+50*2-7,oy+20,10);outtextxy(ox+50*3-7,oy+20,15);outtextxy(ox+50*4-7,oy+20,20);outtextxy(ox+50*5-7,oy+20,25);outtextxy(ox+50*6-7,oy+20,|,30);outt

6、extxy(ox+50*7-7zoy+20,35);outtextxy(ox+50*8-7,oy+20,40);outtextxy(ox+50*9-7,oy+20,45);outtextxy(ox+50*10-7zoy+20,50);/*标y轴刻度值*/outtextxy(ox-20zoy-40*1,1);outtextxy(ox-20,oy-40*2,2);outtextxy(ox-20,oy-40*3,3);outtextxy(ox-20,oy-40*4,4);outtextxy(ox-20,oy-40*5,5);outtextxy(ox-20,oy-40*6,6);outtextxy(o

7、x-20,oy-40*7,7);outtextxy(ox-20,oy-40*8,8);outtextxy(ox-20,oy-40*9,9);outtextxy(ox-20,oy-40*10,10);SettextstyIe(SMA11-FONTzHORIZ-DIRzS);/*坐标轴坐标量注释*/outtextxy(xtext1x,Xtext1yJ1Time);outtextxy(xtext2x,xtext2y,ts);SetteXtSty1e(SMA11_FONiVERT_DIR,5);outtextxy(ytext1x,ytext1y,Theoutput(Response);outtextx

8、y(ytext2x,ytext2y,UV);)void1nitia1_Sys(void)*初始化*/intgdriver=DETECCgmode;initgraph(&gdriver,&gmode,C:TC20HtcBGI)；*pD运算*/f1oatPID1ffIoatNewJIoatSp)*理想*/staticf1oate13=0.0,0.0,0.0,u1=0.0,du1=0.0;e12=e11;*数据更新*/e11=e1O;e1O=Sp-New;du1=C11*du1+C21*e10+C31*e11+C41*e12;*PID运算*/u1=u1+du1;returnu1;f1oatPID2(

9、f1oatNewJIoatSp)*实际*/staticf1oate23=0.0,0.0,0.0,u2=0.0,du2=0.0;e22=e21;*数据更新s7e21=e20;e20=Sp-New;du2=C12*du2+C22*e20+C32*e21+C42*e22;u2=u2+du2;returnu2;)/*/voiddraw(f1oata)intk=5;*x轴间距*/intx1,y1zx,y;inti;xO=O;y0=(int)(a0*25);*规整*/for(i=1;i100;i+)x1=x+k;y1=(int)(ai*25);de1ay(100);setco1or(14);*标注*/se

10、ttextsty1e(SMA11_F0NT,H0RIZ_DIR,5)；outtextxy(600,20,U);Iine(ox+x0,oy-y0,ox+x1,oy-y0);1ine(ox+x1,oy-yO,ox+x1,oy-y1);setco1or(14);outtextxy(620,20,Sp);1ine(ox+x0,oy-25,ox+x1,oy-25);x=x1;*数据更新*/y=yi;)voiddraw2(f1oatb)intk=5;*x轴间距*/intx1,y1,x,y;inti;xO=O;y0=(int)(b0*25);for(i=1;i100;i+)x1=x+k;y1=(int)(b

11、i*25);de1ay(100);setco1or(6);outtextxy(600,40,U,);Iine(ox+x0,oy-y0,ox+x1,oy-y0);1ine(ox+x1,oy-yO,ox+x1,oy-y1);setco1or(6);OUtteXtXy(620,40,Sp);1ine(ox+x0,oy-25,ox+x1,oy-25);x=x1;/*数据更新*/y=yi;)/*主程序*/voidmain(void)f1oata100;f1oatb100;inti;for(i=0;i100;i+)(ai=PID1(O.O,1O);)1nitia1_Sys();DrawAxis();dra

12、w(a);for(i=0;i100;i+)(bi=PID2(0.0,10);)draw2(b);gtch();实际采样显示控制程序/*头文件定义*/#inc1ude,stdio.h#inc1ude,math.h#inc1udegraphics.h*forgraphdriverinsta11ing,on1ycanbeca11edinTurboC*/#inc1udestring.h#inc1ude,dos.h#inc1ude,bios.h#inc1ude,conio.h*中断程序头文件*/#inc1ude,std1ib.h#inc1ude,io.h#inc1ude,math.h*按键地址定义*/d

13、oub1ekey_ESC=0x011b;*definecannotsuitthe1engthofbioskey*/doub1ekey_E=0x1265;doub1ekey_A=0x1e61;doub1ekey_H=0x2368;doub1ekey_U=0x1675;doub1ekey_D=0x2064;doub1ekeyJ=0x1769;doub1ekey_P=0x1970;doub1ekey_up=0x4800;doub1ekey_down=0x5000;doub1ekey-1eft=0x4b00;doub1ekey-right=0x4d00;doub1ekey_pgup=0x4900;doub1ekey_pgdown=0x5100;*P1CD780基地址定义*/#defineBASE0x220*p1ease1ookupinPC1812PGdocument*/#defineREG1*定义绘图坐标*/#defineox40#defineoy240#definexx600#definexy240#defineyx40#defineyy40*pD参数定义*f1oatKp=I.