stm32pid控制电机代码

以下是一个使用STM32的PID控制电机的示例代码：

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

// PID参数
float Kp = 0.1;
float Ki = 0.01;
float Kd = 0.001;

// 误差相关变量
float error = 0;
float last_error = 0;
float integral = 0;
float derivative = 0;

// 目标位置和当前位置
float target_position = 0;
float current_position = 0;

// PWM输出相关变量
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;

// 初始化PWM输出
void PWM_Init(void) {
  // 启用时钟
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

  // 设置GPIO引脚为PWM输出模式
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  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(GPIOB, &GPIO_InitStructure);

  // 将GPIO引脚与TIM4的通道1和通道2连接起来
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);

  // 设置TIM4的时间基准
  TIM_TimeBaseStructure.TIM_Period = 1999;
  TIM_TimeBaseStructure.TIM_Prescaler = 83;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

  // 配置TIM4的通道1和通道2为PWM模式
  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(TIM4, &TIM_OCInitStructure);
  TIM_OC2Init(TIM4, &TIM_OCInitStructure);

  // 启动TIM4
  TIM_Cmd(TIM4, ENABLE);
}

// 更新PID控制器的输出
void Update_PID_Output(void) {
  // 计算误差
  error = target_position - current_position;

  // 计算积分项
  integral += error;

  // 计算微分项
  derivative = error - last_error;
  last_error = error;

  // 计算PID输出
  float output = Kp * error + Ki * integral + Kd * derivative;

  // 限制PID输出在[-100, 100]之间
  if (output > 100) {
    output = 100;
  } else if (output < -100) {
    output = -100;
  }

  // 更新PWM占空比
  if (output >= 0) {
    TIM_SetCompare1(TIM4, output * 20);
    TIM_SetCompare2(TIM4, 0);
  } else {
    TIM_SetCompare1(TIM4, 0);
    TIM_SetCompare2(TIM4, -output * 20);
  }
}

int main(void) {
  // 初始化PWM输出
  PWM_Init();

  while(1) {
    // 更新PID控制器的输出
    Update_PID_Output();
  }
}

这个代码需要根据你的具体硬件和电机参数进行修改。其中，`Kp`、`Ki`和`Kd`是PID控制器的参数，`target_position`是电机的目标位置，`current_position`是电机当前的位置，PWM输出通过`TIM_SetCompare1`和`TIM_SetCompare2`函数实现。你需要根据具体情况修改这些变量和函数。