stm32控制编码器电机pid速度环代码
时间: 2023-07-09 22:32:17 浏览: 179
好的,这里提供一个基本的STM32控制编码器电机PID速度环的代码,供你参考:
```c
#include "stm32f10x.h"
// 定义PID参数
float Kp = 0.5;
float Ki = 0.1;
float Kd = 0.2;
// 定义电机控制量输出范围
int16_t PWM_MAX = 1000;
// 定义编码器脉冲计数
volatile int32_t encoder_count = 0;
// 定义速度误差
volatile float speed_error = 0;
// 定义PID控制器输出
volatile float pid_output = 0;
// 定义定时器中断服务函数
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
{
// 读取编码器脉冲计数
int32_t count = TIM_GetCounter(TIM3);
TIM_SetCounter(TIM3, 0);
encoder_count += count;
// 计算速度误差
float speed_setpoint = 100; // 设定一个速度值
float speed = count * 10; // 假设编码器分辨率为10脉冲/转,计算得到当前速度
speed_error = speed_setpoint - speed;
// 计算PID控制器输出
float pid_p = Kp * speed_error;
float pid_i = Ki * speed_error;
float pid_d = Kd * (speed_error - pid_output);
pid_output = pid_p + pid_i + pid_d;
// 限制输出范围
if (pid_output > PWM_MAX)
pid_output = PWM_MAX;
else if (pid_output < -PWM_MAX)
pid_output = -PWM_MAX;
// 输出PWM信号
if (pid_output >= 0)
{
TIM_SetCompare1(TIM4, pid_output);
TIM_SetCompare2(TIM4, 0);
}
else
{
TIM_SetCompare1(TIM4, 0);
TIM_SetCompare2(TIM4, -pid_output);
}
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}
}
int main(void)
{
// 配置定时器3作为编码器读取定时器
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetCounter(TIM3, 0);
TIM_Cmd(TIM3, ENABLE);
// 配置定时器4作为PWM输出定时器
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_TimeBaseStructure.TIM_Period = 1000 - 1;
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
// 配置PWM输出通道
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
// 配置定时器2作为PID控制器定时器
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructure.TIM_Period = 1000 - 1;
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
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);
// 启用定时器3和定时器4
TIM_Cmd(TIM3, ENABLE);
TIM_Cmd(TIM4, ENABLE);
// 配置编码器中断
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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)
{
// 主循环中可以添加其他功能
}
}
```
需要注意的是,这只是一个基本的代码框架,实际使用时需要根据具体情况进行修改和优化。同时,还需要根据具体的硬件平台和编码器类型进行配置和调试。