stm32pid温度控制pwm输出

以下是基于STM32F10x单片机实现的PID算法温度控制PWM输出的代码示例：

#include "stm32f10x.h"
#include "PWMOUT.h"

#define PWM_PIN GPIO_Pin_0
#define PWM_PORT GPIOA
#define PWM_CLK RCC_APB2Periph_GPIOA

#define TEMP_PIN GPIO_Pin_1
#define TEMP_PORT GPIOA
#define TEMP_CLK RCC_APB2Periph_GPIOA
#define TEMP_ADC ADC1
#define TEMP_ADC_CLK RCC_APB2Periph_ADC1
#define TEMP_ADC_CHANNEL ADC_Channel_1

#define PWM_FREQ 1000 // PWM频率为1kHz
#define PWM_PERIOD 1000 // PWM周期为1ms
#define PWM_MAX_DUTY 900 // PWM最大占空比为90%
#define PWM_MIN_DUTY 100 // PWM最小占空比为10%

#define TEMP_SETPOINT 50 // 设定温度为50℃
#define KP 2.0 // 比例系数
#define KI 0.5 // 积分系数
#define KD 0.1 // 微分系数

volatile uint16_t temp_value = 0; // 温度传感器采集值
volatile uint16_t pwm_duty = 0; // PWM占空比
volatile float error = 0; // 误差
volatile float last_error = 0; // 上一次误差
volatile float integral = 0; // 积分项
volatile float derivative = 0; // 微分项

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(PWM_CLK, ENABLE);
    GPIO_InitStructure.GPIO_Pin = PWM_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(PWM_PORT, &GPIO_InitStructure);

    RCC_APB2PeriphClockCmd(TEMP_CLK, ENABLE);
    GPIO_InitStructure.GPIO_Pin = TEMP_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
    GPIO_Init(TEMP_PORT, &GPIO_InitStructure);
}

void ADC_Configuration(void)
{
    ADC_InitTypeDef ADC_InitStructure;

    RCC_APB2PeriphClockCmd(TEMP_ADC_CLK, ENABLE);
    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(TEMP_ADC, &ADC_InitStructure);

    ADC_RegularChannelConfig(TEMP_ADC, TEMP_ADC_CHANNEL, 1, ADC_SampleTime_239Cycles5);

    ADC_Cmd(TEMP_ADC, ENABLE);
    ADC_ResetCalibration(TEMP_ADC);
    while(ADC_GetResetCalibrationStatus(TEMP_ADC));
    ADC_StartCalibration(TEMP_ADC);
    while(ADC_GetCalibrationStatus(TEMP_ADC));
}

void TIM_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / (PWM_FREQ * PWM_PERIOD) - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    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_Cmd(TIM2, ENABLE);
}

void SysTick_Handler(void)
{
    static uint16_t count = 0;

    if(count++ >= 10) // 100ms采集一次温度
    {
        count = 0;

        ADC_SoftwareStartConvCmd(TEMP_ADC, ENABLE);
        while(!ADC_GetFlagStatus(TEMP_ADC, ADC_FLAG_EOC));
        temp_value = ADC_GetConversionValue(TEMP_ADC);

        error = TEMP_SETPOINT - temp_value;
        integral += error;
        derivative = error - last_error;
        last_error = error;

        pwm_duty = KP * error + KI * integral + KD * derivative;
        if(pwm_duty > PWM_MAX_DUTY) pwm_duty = PWM_MAX_DUTY;
        if(pwm_duty < PWM_MIN_DUTY) pwm_duty = PWM_MIN_DUTY;

        TIM_SetCompare1(TIM2, pwm_duty);
    }
}

int main(void)
{
    GPIO_Configuration();
    ADC_Configuration();
    TIM_Configuration();

    SysTick_Config(SystemCoreClock / 1000); // 1ms中断一次

    while(1);
}