stm32pid控制电机程序

下面是一个简单的基于STM32的PID控制电机程序示例，供参考：

#include "stm32f10x.h"
#include "pid.h"

#define MOTOR_PIN  GPIO_Pin_0
#define MOTOR_PORT GPIOA

float setpoint = 0.0f;
float feedback = 0.0f;
float output = 0.0f;

void TIM2_IRQHandler()
{
    static uint32_t counter = 0;
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) 
    {
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
        counter++;
        if (counter >= 1000) // 1ms
        {
            GPIO_WriteBit(MOTOR_PORT, MOTOR_PIN, output > 0 ? Bit_SET : Bit_RESET);
            counter = 0;
        }
    }
}

void ADC1_2_IRQHandler()
{
    if (ADC_GetITStatus(ADC1, ADC_IT_EOC) != RESET)
    {
        feedback = (float)ADC_GetConversionValue(ADC1) / 4095.0f * 3.3f; // 0V ~ 3.3V
        ADC_ClearITPendingBit(ADC1, ADC_IT_EOC);
    }
}

int main(void)
{
    // 初始化GPIO
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    GPIO_InitStructure.GPIO_Pin = MOTOR_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(MOTOR_PORT, &GPIO_InitStructure);

    // 初始化定时器
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 71;
    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);
    NVIC_EnableIRQ(TIM2_IRQn);
    TIM_Cmd(TIM2, ENABLE);

    // 初始化ADC
    ADC_InitTypeDef ADC_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
    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_71Cycles5);
    ADC_ITConfig(ADC1, ADC_IT_EOC, ENABLE);
    NVIC_EnableIRQ(ADC1_2_IRQn);
    ADC_Cmd(ADC1, ENABLE);
    ADC_ResetCalibration(ADC1);
    while(ADC_GetResetCalibrationStatus(ADC1));
    ADC_StartCalibration(ADC1);
    while(ADC_GetCalibrationStatus(ADC1));

    // 初始化PID控制器
    pid_t pid;
    pid_init(&pid, 1.0f, 0.1f, 0.05f, 0.0f, 100.0f, -100.0f);

    while(1)
    {
        setpoint = 1.0f; // 设定目标值
        output = pid_update(&pid, setpoint, feedback); // 更新PID控制器
        delay_ms(1); // 等待1ms
    }
}

这个程序主要实现了三个功能：

1. 通过TIM2定时器模块，每隔1ms控制电机的输出信号。
2. 通过ADC模块采集电机的运行状态。
3. 使用PID控制器计算出控制电机的输出信号。

其中，需要注意的一点是，PID控制器的参数（比例系数Kp、积分系数Ki、微分系数Kd）需要根据具体的电机、负载和应用场景进行调整和优化。