stm32f103c8t6电机PID调速代码

以下是一个基于STM32F103C8T6的电机PID调速代码示例：

#include "stm32f10x.h"

#define PWM_FREQ 10000 // PWM频率
#define MOTOR_PPR 1000 // 电机每转脉冲数

// PID控制参数
#define KP 1.0f // 比例系数
#define KI 0.5f // 积分系数
#define KD 0.2f // 微分系数

// 全局变量
volatile int16_t encoder_count = 0; // 编码器计数器
float target_speed = 0.0f; // 目标速度
float current_speed = 0.0f; // 当前速度
float error = 0.0f; // 误差
float last_error = 0.0f; // 上一次的误差
float integral = 0.0f; // 积分值
float derivative = 0.0f; // 微分值
float output = 0.0f; // PID输出值

void TIM2_IRQHandler(void) {
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);

        encoder_count++;
    }
}

void TIM3_IRQHandler(void) {
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) {
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);

        current_speed = (float)(encoder_count * 60) / (MOTOR_PPR * PWM_FREQ);
        encoder_count = 0;
    }
}

void PWM_Init(void) {
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    // 使能GPIO和TIM时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    // 配置GPIO引脚
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 配置TIM基本参数
    TIM_TimeBaseStructure.TIM_Period = (SystemCoreClock / PWM_FREQ) - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    // 配置TIM2通道1输出
    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);

    // 使能TIM2
    TIM_Cmd(TIM2, ENABLE);
}

void Encoder_Init(void) {
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    // 使能GPIO和TIM时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    // 配置GPIO引脚
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 配置TIM基本参数
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    // 配置TIM3输入捕获
    TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    TIM_ICInitTypeDef TIM_ICInitStructure;
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = 6;
    TIM_ICInit(TIM3, &TIM_ICInitStructure);

    // 使能TIM3和编码器计数
    TIM_Cmd(TIM3, ENABLE);
    TIM3->CNT = 0;
    encoder_count = 0;

    // 配置TIM3中断
    NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
}

void PID_Init(void) {
    target_speed = 0.0f;
    current_speed = 0.0f;
    error = 0.0f;
    last_error = 0.0f;
    integral = 0.0f;
    derivative = 0.0f;
    output = 0.0f;
}

void PID_Update(void) {
    error = target_speed - current_speed;
    integral += error;
    derivative = error - last_error;
    output = KP * error + KI * integral + KD * derivative;

    if (output > 100.0f) {
        output = 100.0f;
    } else if (output < -100.0f) {
        output = -100.0f;
    }

    TIM2->CCR1 = (uint16_t)((output / 100.0f) * ((SystemCoreClock / PWM_FREQ) - 1));

    last_error = error;
}

int main(void) {
    PWM_Init();
    Encoder_Init();
    PID_Init();

    while (1) {
        PID_Update();
    }
}

这个代码示例实现了基于STM32F103C8T6的电机PID调速。代码中使用了TIM2作为PWM输出，TIM3作为编码器输入。PID控制参数可以根据实际需求进行调整。在`main()`函数中，循环调用`PID_Update()`函数来更新PID控制输出。

请注意，这只是一个简单的代码示例，实际情况下还需要根据具体的硬件和电机特性进行适当的修改和优化。另外，为了更好地理解代码的运行原理，建议先阅读相关的STM32F103C8T6和库函数的文档。