STM32F407 模糊控制算法代码

下面是一个基于模糊控制算法的 STM32F407 代码示例：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_tim.h"

// 定义控制参数
#define KP 0.5
#define KI 0.25
#define KD 0.1

// 定义模糊控制器的参数
#define NB 7 // 模糊集个数
#define NM 7 // 模糊集个数
#define NS 7 // 模糊集个数

// 模糊集数组
const float NB_set[NB] = {-10, -5, -3, 0, 3, 5, 10};
const float NM_set[NM] = {-10, -5, -3, 0, 3, 5, 10};
const float NS_set[NS] = {-10, -5, -3, 0, 3, 5, 10};

// 模糊规则表
const float rule_table[NB][NM][NS] = {
    {{-10, -10, -10, -10, -10, -10, -5},
     {-10, -10, -10, -10, -10, -5, -3},
     {-10, -10, -10, -10, -5, -3, 0},
     {-10, -10, -10, -5, -3, 0, 3},
     {-10, -10, -5, -3, 0, 3, 5},
     {-10, -5, -3, 0, 3, 5, 10},
     {-5, -3, 0, 3, 5, 10, 10}},
    {{-10, -10, -10, -10, -10, -5, 0},
     {-10, -10, -10, -10, -5, -3, 3},
     {-10, -10, -10, -5, -3, 0, 5},
     {-10, -10, -5, -3, 0, 3, 10},
     {-10, -5, -3, 0, 3, 5, 10},
     {-5, -3, 0, 3, 5, 10, 10},
     {-3, 0, 3, 5, 10, 10, 10}},
    {{-10, -10, -10, -10, -5, -3, 3},
     {-10, -10, -10, -5, -3, 0, 5},
     {-10, -10, -5, -3, 0, 3, 10},
     {-10, -5, -3, 0, 3, 5, 10},
     {-5, -3, 0, 3, 5, 10, 10},
     {-3, 0, 3, 5, 10, 10, 10},
     {0, 3, 5, 10, 10, 10, 10}},
    {{-10, -10, -5, -3, 0, 3, 10},
     {-10, -5, -3, 0, 3, 5, 10},
     {-5, -3, 0, 3, 5, 10, 10},
     {-3, 0, 3, 5, 10, 10, 10},
     {0, 3, 5, 10, 10, 10, 10},
     {3, 5, 10, 10, 10, 10, 10},
     {5, 10, 10, 10, 10, 10, 10}},
    {{-5, -3, 0, 3, 5, 10, 10},
     {-3, 0, 3, 5, 10, 10, 10},
     {0, 3, 5, 10, 10, 10, 10},
     {3, 5, 10, 10, 10, 10, 10},
     {5, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10}},
    {{0, 3, 5, 10, 10, 10, 10},
     {3, 5, 10, 10, 10, 10, 10},
     {5, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10}},
    {{10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10},
     {10, 10, 10, 10, 10, 10, 10}}};

// 定义控制变量
float error, last_error, integral, derivative, control_value;

// 定义模糊输入和输出变量
int nb_index, nm_index, ns_index, output_index;

// 定义定时器中断处理函数
void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)
    {
        // 读取 ADC 值并计算误差
        uint16_t adc_value = ADC_GetConversionValue(ADC1);
        error = adc_value - 2048;

        // 计算模糊输入变量的索引值
        nb_index = (int)((error - NB_set[0]) / (NB_set[1] - NB_set[0]));
        nm_index = (int)((error - NM_set[0]) / (NM_set[1] - NM_set[0]));
        ns_index = (int)((error - NS_set[0]) / (NS_set[1] - NS_set[0]));

        // 限制模糊输入变量的范围
        if (nb_index < 0)
            nb_index = 0;
        if (nb_index >= NB)
            nb_index = NB - 1;
        if (nm_index < 0)
            nm_index = 0;
        if (nm_index >= NM)
            nm_index = NM - 1;
        if (ns_index < 0)
            ns_index = 0;
        if (ns_index >= NS)
            ns_index = NS - 1;

        // 计算模糊输出变量的索引值
        output_index = 0;
        for (int i = 0; i < NB; i++)
        {
            for (int j = 0; j < NM; j++)
            {
                for (int k = 0; k < NS; k++)
                {
                    float rule_value = rule_table[i][j][k];
                    if (rule_value > 0)
                    {
                        int min_index = i;
                        if (j < min_index)
                            min_index = j;
                        if (k < min_index)
                            min_index = k;
                        if (min_index > output_index)
                            output_index = min_index;
                    }
                }
            }
        }

        // 计算控制值
        integral += error;
        derivative = error - last_error;
        control_value = KP * error + KI * integral + KD * derivative;

        // 设置 PWM 占空比
        TIM_SetCompare1(TIM3, (uint16_t)(control_value * 0.1 * output_index));

        // 更新误差
        last_error = error;

        // 清除定时器中断标志位
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    }
}

int main(void)
{
    // 启用 GPIOA、GPIOB、TIM3 和 ADC1 时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);

    // 配置 PA0 为模拟输入引脚
    GPIO_InitTypeDef gpio_init;
    gpio_init.GPIO_Pin = GPIO_Pin_0;
    gpio_init.GPIO_Mode = GPIO_Mode_AN;
    gpio_init.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA, &gpio_init);

    // 配置 PB4 为 PWM 输出引脚
    gpio_init.GPIO_Pin = GPIO_Pin_4;
    gpio_init.GPIO_Mode = GPIO_Mode_AF;
    gpio_init.GPIO_Speed = GPIO_Speed_100MHz;
    gpio_init.GPIO_OType = GPIO_OType_PP;
    gpio_init.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &gpio_init);

    // 将 PB4 映射到 TIM3_CH1
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3);

    // 配置 TIM3 为 PWM 模式
    TIM_TimeBaseInitTypeDef tim_init;
    tim_init.TIM_Period = 999;
    tim_init.TIM_Prescaler = 83;
    tim_init.TIM_ClockDivision = TIM_CKD_DIV1;
    tim_init.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &tim_init);

    TIM_OCInitTypeDef tim_oc_init;
    tim_oc_init.TIM_OCMode = TIM_OCMode_PWM1;
    tim_oc_init.TIM_OutputState = TIM_OutputState_Enable;
    tim_oc_init.TIM_Pulse = 0;
    tim_oc_init.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM3, &tim_oc_init);
    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);

    // 配置 ADC1 为单次转换模式
    ADC_CommonInitTypeDef adc_common_init;
    adc_common_init.ADC_Mode = ADC_Mode_Independent;
    adc_common_init.ADC_Prescaler = ADC_Prescaler_Div4;
    adc_common_init.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
    adc_common_init.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
    ADC_CommonInit(&adc_common_init);

    ADC_InitTypeDef adc_init;
    adc_init.ADC_Resolution = ADC_Resolution_12b;
    adc_init.ADC_ScanConvMode = DISABLE;
    adc_init.ADC_ContinuousConvMode = DISABLE;
    adc_init.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
    adc_init.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
    adc_init.ADC_DataAlign = ADC_DataAlign_Right;
    adc_init.ADC_NbrOfConversion = 1;
    ADC_Init(ADC1, &adc_init);

    // 启用 ADC1
    ADC_Cmd(ADC1, ENABLE);

    // 配置定时器 TIM2 为 1kHz 的中断频率
    TIM_TimeBaseInitTypeDef tim2_init;
    tim2_init.TIM_Period = 8399;
    tim2_init.TIM_Prescaler = 9;
    tim2_init.TIM_ClockDivision = TIM_CKD_DIV1;
    tim2_init.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &tim2_init);

    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    NVIC_EnableIRQ(TIM2_IRQn);

    // 启动定时器 TIM2 和 PWM 输出 TIM3
    TIM_Cmd(TIM2, ENABLE);
    TIM_Cmd(TIM3, ENABLE);

    while (1)
    {
    }
}

注意，以上代码仅供参考，具体实现可能因应用场景的不同而有所差异。需根据具体的控制需求进行调整。