stm32hal库串级pid代码

以下是使用STM32 HAL库实现串级PID控制的示例代码。这个例子是使用STM32F4 Discovery板和Keil MDK-ARM开发环境编写的。

首先，需要在代码中包含必要的头文件和定义一些变量和常量：

#include "stm32f4xx_hal.h"
#include "math.h"

#define PWM_FREQ 10000 // PWM频率，单位为Hz
#define PWM_PERIOD ((SystemCoreClock / PWM_FREQ) - 1) // PWM周期

#define KP1 2.0 // 一级PID控制器的比例系数
#define KI1 0.1 // 一级PID控制器的积分系数
#define KD1 0.01 // 一级PID控制器的微分系数

#define KP2 1.0 // 二级PID控制器的比例系数
#define KI2 0.05 // 二级PID控制器的积分系数
#define KD2 0.005 // 二级PID控制器的微分系数

static TIM_HandleTypeDef htim2; // 定义TIM2句柄
static TIM_HandleTypeDef htim3; // 定义TIM3句柄
static uint32_t adc_value; // ADC采样值
static float setpoint = 0.0; // 设定值
static float error1 = 0.0; // 一级PID控制器误差
static float error2 = 0.0; // 二级PID控制器误差
static float last_error1 = 0.0; // 上一次一级PID控制器误差
static float last_error2 = 0.0; // 上一次二级PID控制器误差
static float integral1 = 0.0; // 一级PID控制器积分项
static float integral2 = 0.0; // 二级PID控制器积分项
static float derivative1 = 0.0; // 一级PID控制器微分项
static float derivative2 = 0.0; // 二级PID控制器微分项
static float output1 = 0.0; // 一级PID控制器输出值
static float output2 = 0.0; // 二级PID控制器输出值
static float last_output2 = 0.0; // 上一次二级PID控制器输出值

然后，需要初始化TIM2和TIM3定时器，以及ADC采样：

void SystemClock_Config(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  
  // 初始化TIM2
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = PWM_PERIOD;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_PWM_Init(&htim2);
  
  // 初始化TIM3
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 4095;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_Base_Init(&htim3);
  HAL_TIM_Base_Start_IT(&htim3);
  
  // 初始化ADC
  ADC_ChannelConfTypeDef sConfig;
  ADC_HandleTypeDef hadc1;
  
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_ADC1_CLK_ENABLE();
  
  GPIO_InitTypeDef GPIO_InitStruct;
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.ScanConvMode = DISABLE;
  hadc1.Init.ContinuousConvMode = ENABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  HAL_ADC_Init(&hadc1);
  
  sConfig.Channel = ADC_CHANNEL_0;
  sConfig.Rank = 1;
  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig);
  
  // 启动PWM输出
  TIM_OC_InitTypeDef sConfigOC;
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
  
  while (1)
  {
    // 读取ADC采样值
    HAL_ADC_Start(&hadc1);
    if (HAL_ADC_PollForConversion(&hadc1, 1000000) == HAL_OK)
    {
      adc_value = HAL_ADC_GetValue(&hadc1);
    }
    HAL_ADC_Stop(&hadc1);
    
    // 一级PID控制器
    error1 = setpoint - adc_value;
    integral1 += error1;
    derivative1 = error1 - last_error1;
    output1 = KP1 * error1 + KI1 * integral1 + KD1 * derivative1;
    last_error1 = error1;
    
    // 二级PID控制器
    error2 = output1 - last_output2;
    integral2 += error2;
    derivative2 = error2 - last_error2;
    output2 = KP2 * error2 + KI2 * integral2 + KD2 * derivative2;
    last_error2 = error2;
    last_output2 = output2;
    
    // 更新PWM输出
    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, (uint32_t)(output2 * PWM_PERIOD / 3.3));
  }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);

  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

在主循环中，首先读取ADC采样值，然后使用一级PID控制器计算输出值，再使用二级PID控制器对一级PID控制器的输出进行控制，最后更新PWM输出。

需要注意的是，此示例代码中的一级PID控制器和二级PID控制器的参数是根据实际情况进行设置的，需要根据具体应用进行调整。

希望这能帮助你实现串级PID控制。