stm32f4增量式pid程序

下面是一个基于STM32F4的增量式PID程序示例：

#include "stm32f4xx.h"

float kp = 1.0f;    // 比例系数
float ki = 0.1f;    // 积分系数
float kd = 0.01f;   // 微分系数

float setpoint = 50.0f;    // 设定值
float feedback = 0.0f;     // 反馈值
float error = 0.0f;        // 误差值
float last_error = 0.0f;   // 上次误差值
float integral = 0.0f;     // 积分值
float derivative = 0.0f;   // 微分值

float output = 0.0f;   // 输出值

void TIM2_IRQHandler(void)
{
    if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
    {
        // 计算误差值
        error = setpoint - feedback;
        // 计算积分值
        integral += error;
        // 计算微分值
        derivative = error - last_error;
        // 计算输出值
        output = kp * error + ki * integral + kd * derivative;
        // 保存上次误差值
        last_error = error;
        // 输出到PWM通道
        TIM_SetCompare1(TIM3, (uint16_t)(output));
        // 清除中断标志位
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    }
}

int main(void)
{
    // 初始化PWM输出
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;

    GPIO_Init(GPIOC, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3);

    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 8399;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

    TIM_TimeBaseInit(TIM3, &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(TIM3, &TIM_OCInitStructure);

    TIM_Cmd(TIM3, ENABLE);

    // 初始化PID控制器
    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 8399;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    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 = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

    NVIC_Init(&NVIC_InitStructure);

    TIM_Cmd(TIM2, ENABLE);

    // 进入主循环
    while(1)
    {
        // 读取反馈值，这里假设反馈值为ADC转换结果
        feedback = (float)ADC_GetConversionValue(ADC1);
    }
}

在这个例子中，我们使用TIM2作为控制器的计时器，TIM3作为PWM输出。在TIM2的中断处理函数中，我们计算误差值、积分值和微分值，并根据比例系数、积分系数和微分系数计算输出值。最后，我们将输出值写入到PWM通道，控制电机的转速。

注意，这个程序仅仅是一个示例，实际应用中需要根据具体的系统特点和控制需求进行调整。