写一个stm32f103控制rm2006电机pid程序
时间: 2023-07-01 14:06:05 浏览: 108
下面是一个简单的基于 STM32F103 控制 RM2006 电机的 PID 程序示例。需要使用 Keil uVision 或其他编译器进行编译。
```c
#include "stm32f10x.h"
#include "rm2006.h"
#define Kp 0.1
#define Ki 0.01
#define Kd 0.001
int16_t setpoint = 0;
int16_t error = 0;
int16_t last_error = 0;
int16_t integral = 0;
int16_t derivative = 0;
int16_t output = 0;
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update))
{
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
static uint8_t count = 0;
static int16_t encoder = 0;
encoder = RM2006_GetEncoderCount();
error = setpoint - encoder;
integral += error;
derivative = error - last_error;
output = Kp * error + Ki * integral + Kd * derivative;
RM2006_SetSpeed(output);
last_error = error;
count++;
if (count >= 10) // 100ms
{
count = 0;
integral /= 10;
derivative /= 10;
}
}
}
int main(void)
{
SystemInit();
RM2006_Init();
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructure.TIM_Period = 999;
TIM_TimeBaseStructure.TIM_Prescaler = 7199; // 10kHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
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)
{
setpoint = 1000; // 设置目标位置
}
}
```
需要注意的是,此程序仅为示例,实际应用中需要根据具体情况进行调整和优化。同时,PID 算法的参数也需要根据实际情况进行调整。