写一个stm32 PID 调速代码
时间: 2023-05-20 19:05:06 浏览: 44
好的,以下是一个基本的stm32 PID调速代码:
```
#include "stm32f10x.h"
#define KP 1.0f
#define KI 0.1f
#define KD 0.01f
float error = 0.0f;
float last_error = 0.0f;
float integral = 0.0f;
float derivative = 0.0f;
float output = 0.0f;
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
float setpoint = 1000.0f; // 设定值
float feedback = 0.0f; // 反馈值
// 计算误差
error = setpoint - feedback;
// 计算积分项
integral += error;
// 计算微分项
derivative = error - last_error;
last_error = error;
// 计算输出
output = KP * error + KI * integral + KD * derivative;
// 输出到PWM
TIM_SetCompare1(TIM3, output);
}
}
int main(void)
{
// 初始化TIM2
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 999;
TIM_TimeBaseStructure.TIM_Prescaler = 7199;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
// 初始化TIM3
TIM_OCInitTypeDef TIM_OCInitStructure;
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);
// 启动TIM2和TIM3
TIM_Cmd(TIM2, ENABLE);
TIM_Cmd(TIM3, ENABLE);
// 启动TIM2的中断
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
while (1)
{
// 主循环
}
}
```
这是一个简单的PID调速代码,使用了STM32的定时器和PWM输出。在中断处理函数中,计算误差、积分项和微分项,然后计算输出并输出到PWM。你可以根据实际情况调整PID参数和设定值。