基于DSP28335写一个通过PID调节两对EPWM互补方波的占空比实现稳压程序代码

以下是基于DSP28335编写的PID稳压程序代码，实现通过PID调节两对EPWM互补方波的占空比：

#include "DSP2833x_Device.h"
#include "DSP2833x_Examples.h"

#define PWM_FREQ 20000  // PWM频率
#define PWM_PERIOD (150E6 / (PWM_FREQ * 2))  // PWM周期

#define VOLTAGE_REF 3.3  // 设定电压
#define VOLTAGE_ADC_SCALE (3.3 / 4096)  // ADC电压分辨率

#define KP 0.1  // 比例系数
#define KI 0.01  // 积分系数
#define KD 0.001  // 微分系数

#define MAX_DUTY_CYCLE (PWM_PERIOD / 2)  // 最大占空比
#define MIN_DUTY_CYCLE 0  // 最小占空比

float voltage_adc = 0;  // ADC采样电压
float voltage_error = 0;  // 电压误差
float voltage_integral = 0;  // 电压积分误差
float voltage_derivative = 0;  // 电压微分误差

float duty_cycle = 0;  // 互补方波占空比
float duty_cycle_inverted = 0;  // 反向互补方波占空比

float pid_output = 0;  // PID输出

interrupt void epwm1_isr(void);

void main(void)
{
    InitSysCtrl();
    InitPieCtrl();

    EALLOW;
    PieVectTable.EPWM1_INT = &epwm1_isr;
    EDIS;

    InitEPwmGpio();
    InitEPwm1();

    IER |= M_INT3;
    PieCtrlRegs.PIEIER3.bit.INTx1 = 1;

    EINT;

    EPwm1Regs.TBCTL.bit.CTRMODE = TB_FREEZE;
    EPwm1Regs.TBPRD = PWM_PERIOD;
    EPwm1Regs.CMPA.bit.CMPA = PWM_PERIOD / 2;
    EPwm1Regs.TBCTL.bit.PHSEN = TB_ENABLE;
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV2;
    EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV2;
    EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
    EPwm1Regs.AQCTLA.bit.ZRO = AQ_SET;
    EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;
    EPwm1Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
    EPwm1Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;
    EPwm1Regs.DBFED = 50;
    EPwm1Regs.DBRED = 50;

    EPwm2Regs.TBCTL.bit.CTRMODE = TB_FREEZE;
    EPwm2Regs.TBPRD = PWM_PERIOD;
    EPwm2Regs.CMPA.bit.CMPA = PWM_PERIOD / 2;
    EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE;
    EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV2;
    EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV2;
    EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
    EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET;
    EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;
    EPwm2Regs.DBCTL.bit.OUT_MODE = DB_FULL_ENABLE;
    EPwm2Regs.DBCTL.bit.POLSEL = DB_ACTV_HIC;
    EPwm2Regs.DBFED = 50;
    EPwm2Regs.DBRED = 50;

    AdcRegs.ADCCTL1.bit.ADCREFSEL = 0;
    AdcRegs.ADCCTL1.bit.ADCBGPWD = 1;
    AdcRegs.ADCCTL1.bit.ADCPWDN = 1;
    DELAY_US(1000);
    AdcRegs.ADCCTL1.bit.ADCENABLE = 1;
    AdcRegs.ADCSOC0CTL.bit.CHSEL = 0;
    AdcRegs.ADCSOC0CTL.bit.ACQPS = 14;
    AdcRegs.INTSEL1N2.bit.INT1SEL = 0;
    AdcRegs.INTSEL1N2.bit.INT1E = 1;
    AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;

    while (1)
    {
        voltage_adc = AdcResult.ADCRESULT0 * VOLTAGE_ADC_SCALE;
        voltage_error = VOLTAGE_REF - voltage_adc;
        voltage_integral += voltage_error;
        voltage_derivative = voltage_error - pid_output;
        pid_output = KP * voltage_error + KI * voltage_integral + KD * voltage_derivative;
        duty_cycle += pid_output;
        duty_cycle_inverted = PWM_PERIOD - duty_cycle;
        if (duty_cycle > MAX_DUTY_CYCLE)
        {
            duty_cycle = MAX_DUTY_CYCLE;
            duty_cycle_inverted = MIN_DUTY_CYCLE;
        }
        else if (duty_cycle < MIN_DUTY_CYCLE)
        {
            duty_cycle = MIN_DUTY_CYCLE;
            duty_cycle_inverted = PWM_PERIOD - MIN_DUTY_CYCLE;
        }
        EPwm1Regs.CMPA.bit.CMPA = (Uint16)duty_cycle;
        EPwm2Regs.CMPA.bit.CMPA = (Uint16)duty_cycle_inverted;
        DELAY_US(1000);
    }
}

interrupt void epwm1_isr(void)
{
    EPwm1Regs.ETCLR.bit.INT = 1;
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

该程序中，通过EPWM1和EPWM2两个模块实现互补方波的输出，PWM周期和频率可根据实际需求进行调整。程序中使用ADC采样电压值，通过PID算法计算出控制信号，并以此调节互补方波的占空比，使输出电压稳定在设定值。其中，KP、KI和KD分别为比例系数、积分系数和微分系数，可以根据实际需求进行调整。