基于stm32f103c8t6的PID算法代码

好的，以下是一个基于stm32f103c8t6的PID算法代码示例：

#include "stm32f10x.h"
#include "math.h"

#define Kp 0.5
#define Ki 0.2
#define Kd 0.1

float error, P, I, D, PID_value, prev_error = 0, integral = 0, derivative = 0;

int main(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    TIM_TimeBaseInitStruct.TIM_Prescaler = 7200 - 1;
    TIM_TimeBaseInitStruct.TIM_Period = 1000 - 1;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStruct);

    TIM_OCInitTypeDef TIM_OCInitStruct;
    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_Pulse = 500 - 1;
    TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM2, &TIM_OCInitStruct);

    TIM_Cmd(TIM2, ENABLE);

    while (1)
    {
        error = 500 - TIM_GetCounter(TIM2);

        P = Kp * error;
        integral += error;
        I = Ki * integral;
        derivative = error - prev_error;
        D = Kd * derivative;

        PID_value = P + I + D;

        prev_error = error;

        if (PID_value > 1000)
            PID_value = 1000;
        else if (PID_value < 0)
            PID_value = 0;

        TIM_SetCompare1(TIM2, PID_value);
        delay_ms(1);
    }
}

void delay_ms(uint32_t ms)
{
    uint32_t i;
    for (i = 0; i < ms; i++)
    {
        uint32_t j;
        for (j = 0; j < 7200; j++)
        {
            asm("nop");
        }
    }
}

该代码实现了基于stm32f103c8t6的PID算法控制，将PWM输出控制在500（占空比50%）。

在该代码中，Kp、Ki和Kd分别代表比例系数、积分系数和微分系数。error为当前误差，prev_error为上一次的误差，integral为误差累积值，derivative为误差变化率，P、I、D分别为比例、积分和微分控制量，PID_value为PID算法输出，通过设置TIM2的PWM占空比来实现控制。