stm32 pid控制代码

以下是一个使用PID控制的STM32代码示例：

#include "stm32f4xx_hal.h"

typedef struct {
  float Kp; // 比例系数
  float Ki; // 积分系数
  float Kd; // 微分系数
  float integral; // 积分项
  float prev_error; // 上一次的误差
} PID_TypeDef;

void PID_Init(PID_TypeDef *pid, float Kp, float Ki, float Kd) {
  pid->Kp = Kp;
  pid->Ki = Ki;
  pid->Kd = Kd;
  pid->integral = 0;
  pid->prev_error = 0;
}

float PID_Calculate(PID_TypeDef *pid, float target, float current) {
  float error = target - current;
  pid->integral += error;
  float derivative = error - pid->prev_error;
  pid->prev_error = error;

  float output = pid->Kp * error + pid->Ki * pid->integral + pid->Kd * derivative;
  return output;
}

void Motor_Control(PID_TypeDef *pid, TIM_HandleTypeDef *htim) {
  // 获取当前位置和目标位置
  float current_position = (float)(motor1.totalCount - 10000);
  float target_position =  // 自行定义目标位置

  // 计算位置环控制量
  float position_output = PID_Calculate(pid, target_position, current_position);

  // 获取当前速度和目标速度
  float current_speed = motor1.speed;
  float target_speed = position_output;

  // 计算速度环控制量
  float speed_output = PID_Calculate(pid, target_speed, current_speed);

  // 根据控制量控制电机方向和速度
  if (speed_output >= 0) {
    __HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL_FORWARD, 1000);
    __HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL_BACKWARD, 1000 - speed_output);
  } else {
    __HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL_BACKWARD, 1000);
    __HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL_FORWARD, 1000 + speed_output);
  }
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
  Motor_Control(&pid_position, htim);
}

这段代码使用了PID控制算法来控制电机的位置和速度。在`Motor_Control`函数中，首先获取当前位置和目标位置，然后计算位置环控制量。接着获取当前速度和目标速度，再计算速度环控制量。最后根据控制量来控制电机的方向和速度。在定时器中断回调函数`HAL_TIM_PeriodElapsedCallback`中调用`Motor_Control`函数来实现PID控制。
#### 引用[.reference_title]
- *1* [【STM32】使用HAL库进行电机PID位置环控制，代码+调参](https://blog.csdn.net/qq_56089182/article/details/128768033)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^insertT0,239^v3^insert_chatgpt"}} ] [.reference_item]
- *2* [STM32应用(十)经典控制算法PID(单级和串级)原理与代码实现](https://blog.csdn.net/weixin_45751396/article/details/119721939)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^insertT0,239^v3^insert_chatgpt"}} ] [.reference_item]
- *3* [PID理论基础及代码详解【stm32标准库】](https://blog.csdn.net/zzhao2580/article/details/126454753)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^insertT0,239^v3^insert_chatgpt"}} ] [.reference_item]
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