STM32F103ZET6直流电机pid
时间: 2023-08-29 17:09:18 浏览: 50
针对STM32F103ZET6控制直流电机,可以使用PID算法实现精准控制。下面是一个简单的直流电机PID控制代码示例:
```c
#include "stm32f10x.h"
// 定义PID参数
float kp = 0.5f;
float ki = 0.2f;
float kd = 0.1f;
// 定义误差变量
float error = 0;
float last_error = 0;
float integral_error = 0;
// 定义PID输出变量
float pid_output = 0;
// 定义目标转速
float target_speed = 1000;
// 定义PWM输出变量
uint16_t pwm_output = 0;
// 定义计数变量
uint32_t count = 0;
// 定义时钟变量
uint32_t sys_clk = 72000000;
int main(void)
{
// 初始化GPIO和PWM输出
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
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);
TIM_TimeBaseInitTypeDef TIM_TimeBase_InitStructure;
TIM_TimeBase_InitStructure.TIM_Prescaler = (sys_clk / 1000000) - 1;
TIM_TimeBase_InitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBase_InitStructure.TIM_Period = 1000 - 1;
TIM_TimeBase_InitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2, &TIM_TimeBase_InitStructure);
TIM_OCInitTypeDef TIM_OC_InitStructure;
TIM_OC_InitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OC_InitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC_InitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC_InitStructure.TIM_Pulse = 0;
TIM_OC1Init(TIM2, &TIM_OC_InitStructure);
TIM_Cmd(TIM2, ENABLE);
// 初始化ADC
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
ADC_InitTypeDef ADC_InitStructure;
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(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_55Cycles5);
ADC_Cmd(ADC1, ENABLE);
// 循环运行PID控制
while (1)
{
count++;
// 读取当前速度
uint16_t adc_value = ADC_GetConversionValue(ADC1);
float current_speed = adc_value * 100.0f / 4095.0f;
// 计算误差
error = target_speed - current_speed;
integral_error += error;
float differential_error = error - last_error;
last_error = error;
// 计算PID输出
pid_output = kp * error + ki * integral_error + kd * differential_error;
// 限幅PID输出
if (pid_output > 100)
{
pid_output = 100;
}
else if (pid_output < -100)
{
pid_output = -100;
}
// 计算PWM输出
pwm_output = (uint16_t)(pid_output * 10);
// 更新PWM输出
TIM_SetCompare1(TIM2, pwm_output);
// 每秒打印一次速度
if (count % sys_clk == 0)
{
printf("Speed: %.2f rpm\n", current_speed);
}
}
}
```
需要注意的是,以上代码只是一个简单的示例,实际应用中需要根据具体情况进行调整和优化。同时,这里的PID参数也需要根据具体的电机和控制要求进行调整。