stm32pid算法代码

以下是一个简单的STM32 PID算法代码示例，仅供参考：

#include "stm32f10x.h"

float kp = 0.5; // 比例系数
float ki = 0.2; // 积分系数
float kd = 0.1; // 微分系数

float setPoint = 30.0; // 设定值
float feedbackValue = 0.0; // 反馈值
float error = 0.0, lastError = 0.0; // 误差及上一次误差
float integral = 0.0; // 积分值

float output = 0.0; // 输出值

void TIM3_IRQHandler(void)
{
    TIM_ClearITPendingBit(TIM3, TIM_IT_Update); // 清除中断标志位

    feedbackValue = ADC_GetConversionValue(ADC1); // 获取ADC采样值

    error = setPoint - feedbackValue; // 计算误差

    integral += error; // 累计误差

    output = kp * error + ki * integral + kd * (error - lastError); // 计算输出值

    lastError = error; // 保存误差

    if(output > 100.0) output = 100.0; // 输出限幅
    if(output < 0.0) output = 0.0;

    TIM_SetCompare2(TIM2, (uint16_t)(output * 10)); // 设置PWM占空比
}

int main(void)
{
    // 初始化定时器和PWM输出
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_ADC1, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    ADC_InitTypeDef ADC_InitStructure;

    ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
    ADC_InitStructure.ADC_ScanConvMode = DISABLE;
    ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
    ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
    ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStructure.ADC_NbrOfChannel = 1;
    ADC_Init(ADC1, &ADC_InitStructure);

    ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 1, ADC_SampleTime_55Cycles5);
    ADC_Cmd(ADC1, ENABLE);
    ADC_ResetCalibration(ADC1);
    while(ADC_GetResetCalibrationStatus(ADC1));
    ADC_StartCalibration(ADC1);
    while(ADC_GetCalibrationStatus(ADC1));

    TIM_TimeBaseInitStructure.TIM_Period = 9999;
    TIM_TimeBaseInitStructure.TIM_Prescaler = 71;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);

    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_OC2Init(TIM2, &TIM_OCInitStructure);

    TIM_Cmd(TIM2, ENABLE);
    TIM_ITConfig(TIM2, TIM_IT_Update, 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);

    while(1);
}

此代码中，假设使用TIM2作为PWM输出的定时器，在TIM3的中断中进行PID算法的计算，反馈值通过ADC1获取。具体实现过程可能因硬件环境和需求而略有不同，需要根据实际情况进行修改。