写一个stm32f103控制rm2006电机pid程序
时间: 2023-07-01 11:06:31 浏览: 43
以下是一个简单的STM32F103控制RM2006电机的PID程序,需要根据具体的硬件电路和控制需求进行适当修改:
```c
#include "stm32f10x.h"
#define ENCODER_PPR 8192 // RM2006编码器分辨率
#define PWM_FREQ 20000 // PWM频率
#define MAX_PWM_DUTY 1000 // PWM最大占空比
float target_speed = 0; // 目标速度
float current_speed = 0; // 当前速度
float last_error = 0; // 上一次误差
float integral_error = 0; // 积分误差
float kp = 0.5; // 比例系数
float ki = 0.2; // 积分系数
float kd = 0.1; // 微分系数
void TIM2_IRQHandler(void) // 定时器中断处理函数
{
static float encoder_count = 0;
static uint16_t last_encoder_value = 0;
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) { // 定时器更新中断
TIM_ClearITPendingBit(TIM2, TIM_IT_Update); // 清除中断标志位
uint16_t current_encoder_value = TIM_GetCounter(TIM3); // 获取当前编码器计数值
int16_t encoder_diff = current_encoder_value - last_encoder_value;
if (encoder_diff < -ENCODER_PPR / 2) {
encoder_diff += ENCODER_PPR;
}
else if (encoder_diff > ENCODER_PPR / 2) {
encoder_diff -= ENCODER_PPR;
}
encoder_count += encoder_diff; // 累计编码器计数值
last_encoder_value = current_encoder_value;
current_speed = encoder_diff * PWM_FREQ / ENCODER_PPR; // 计算当前速度
}
}
void TIM3_IRQHandler(void) // 编码器计数中断处理函数
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) { // 定时器更新中断
TIM_ClearITPendingBit(TIM3, TIM_IT_Update); // 清除中断标志位
}
}
int main(void)
{
// 初始化GPIO、定时器和编码器
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / PWM_FREQ - 1;
TIM_TimeBaseStructure.TIM_Period = MAX_PWM_DUTY - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIM3, ENCODER_PPR - 1);
TIM_Cmd(TIM3, ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
// 初始化PWM输出
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
// 初始化PID参数
last_error = target_speed - current_speed;
integral_error = 0;
while (1) {
float error = target_speed - current_speed; // 计算当前误差
integral_error += error; // 累加积分误差
float derivative_error = error - last_error; // 计算微分误差
float pid_output = kp * error + ki * integral_error + kd * derivative_error; // 计算PID输出
if (pid_output > MAX_PWM_DUTY) {
pid_output = MAX_PWM_DUTY;
}
else if (pid_output < -MAX_PWM_DUTY) {
pid_output = -MAX_PWM_DUTY;
}
TIM_SetCompare1(TIM2, (uint16_t)(pid_output)); // 设置PWM输出占空比
last_error = error; // 更新上一次误差
}
}
```
需要注意的是,这是一个简单的PID程序,可能需要根据具体的控制需求进行修改和优化,如添加输出限幅、积分分离、反馈滤波等功能。此外,还需要根据具体的硬件电路连接和编码器分辨率等参数进行相应的设置。