stm32直流减速电机PWM驱动与pid算法控制稳定输出代码

您好！下面是一个基于PID算法控制STM32直流减速电机的PWM驱动的代码示例：

#include "stm32f4xx.h"

// PID参数
float Kp = 1.0;
float Ki = 0.5;
float Kd = 0.2;

// 电机速度设定值
int targetSpeed = 1000;

// PID变量
float error = 0;
float integral = 0;
float derivative = 0;
float lastError = 0;

// PWM输出频率和分辨率
int pwmFrequency = 20000;  // 20kHz
int pwmResolution = 1000;  // 10-bit分辨率

// 初始化PWM
void PWM_init(void) {
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_Init(GPIOC, &GPIO_InitStructure);
    
    GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3);
    GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3);
    
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    
    TIM_TimeBaseStructure.TIM_Period = pwmResolution - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / pwmFrequency) - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
    
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_Pulse = 0;
    
    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2Init(TIM3, &TIM_OCInitStructure);
    
    TIM_Cmd(TIM3, ENABLE);
}

// 初始化编码器
void Encoder_init(void) {
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM5);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM5);
    
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
    
    TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    
    TIM_Cmd(TIM5, ENABLE);
}

// 获取编码器计数器值
int Encoder_getCount(void) {
    return (int)TIM_GetCounter(TIM5);
}

// PID控制
void PID_control(void) {
    int currentSpeed = Encoder_getCount();
    
    // 计算误差
    error = targetSpeed - currentSpeed;
    
    // 计算积分项
    integral += error;
    
    // 计算微分项
    derivative = error - lastError;
    lastError = error;
    
    // 计算PID输出
    float output = Kp * error + Ki * integral + Kd * derivative;
    
    // 限制输出范围
    if (output > pwmResolution) {
        output = pwmResolution;
    } else if (output < -pwmResolution) {
        output = -pwmResolution;
    }
    
    // 设置PWM占空比
    TIM_SetCompare1(TIM3, (uint16_t)(pwmResolution - fabs(output)));
}

int main(void) {
    PWM_init();
    Encoder_init();
    
    while (1) {
        PID_control();
    }
}

这段代码使用了STM32的TIM3模块作为PWM输出，使用TIM5模块作为编码器输入。其中，`PWM_init()`函数用于初始化PWM输出，`Encoder_init()`函数用于初始化编码器。`PID_control()`函数用于进行PID控制，计算PID输出，并设置PWM占空比。

请根据您的具体硬件和需求进行适当的修改和调整。希望对您有所帮助！如果还有其他问题，请随时提问。