首要说说增量式PID的公式，这个关系到MCU算法公式的书写，实际上两个公式的写法是同一个公式改换来得，不同的是系数的差异。
材料上比较多的是：
还有一种是：
感觉第二种的Kp Ki Kd比较清楚，更好了解，下面介绍的就以第二种来吧。（份额、积分、微分三个环节的作用这儿就具体翻开，百度会有许多）
硬件部分：
操控系统的操控目标是4个空心杯直流电机，电机带光电编码器，能够反应转速巨细的波形。电机驱动模块是一般的L298N模块。
芯片型号，STM32F103ZET6
软件部分：
PWM输出：TIM3，能够直接输出4路不通占空比的PWM波
PWM捕获：STM32除了TIM6 TIM7其他的都有捕获功用，运用TIM1 TIM2 TIM4 TIM5四个定时器捕获四个反应信号
PID的采样和处理：运用了根本定时器TIM6，溢出时刻便是我的采样周期，理论上T越小作用会越好，这儿我取20ms，依据操控目标吧，假如操控水温什么的采样周期会是几秒几分钟什么的。
上面的PWM输出和捕获关于定时器的设置都有例程，我这儿是这样的：
TIM3输出四路PWM，在引脚 C 的 GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9输出
四路捕获分别是TIM4
高档定时器tim1的初始化略不同，它的中止”称号“和通用定时器不同，见代码：
- void TIM3_PWM_Init(u16 arr,u16 psc)
- {
GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功用模块时钟使能 GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer3全映射 GPIOC-> 6,7,8,9 //用于TIM3的CH2输出的PWM经过该LED显现 //设置该引脚为复用输出功用,输出TIM3 CH1 CH2 CH3 CH4 的PWM脉冲波形 GPIO_InitStructure.GPIO_Pin =GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9; //初始化GPIO GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_ResetBits(GPIOC,GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9);//默许电机使能端状况：不使能 TIM_TimeBaseStructure.TIM_Period = arr; //设置鄙人一个更新事情装入活动的主动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 这儿是72分频，那么时钟频率便是1M TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟切割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数形式 TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //依据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时刻基数单位 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //挑选定时器形式:TIM脉冲宽度调制形式1 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高 TIM_OC1Init(TIM3, &TIM_OCInitStructure); //依据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR1上的预装载寄存器 TIM_OC2Init(TIM3, &TIM_OCInitStructure); //依据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR2上的预装载寄存器 TIM_OC3Init(TIM3, &TIM_OCInitStructure); //依据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR3上的预装载寄存器 TIM_OC4Init(TIM3, &TIM_OCInitStructure); //依据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR4上的预装载寄存器 TIM_ARRPreloadConfig(TIM3, ENABLE); //使能TIMx在ARR上的预装载寄存器 TIM_Cmd(TIM3, ENABLE); //使能TIMx外设 - }
- void TIM4_PWMINPUT_INIT(u16 arr,u16 psc)
- {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //TIM的初始化结构体 NVIC_InitTypeDef NVIC_InitStructure; //中止装备 TIM_ICInitTypeDef TIM4_ICInitStructure; //TIM4 PWM装备结构体 GPIO_InitTypeDef GPIO_InitStructure; //IO口装备结构体 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //Open TIM4 clock RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //open gpioB clock GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //GPIO 7 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); TIM_TimeBaseStructure.TIM_Period = arr; //设置鄙人一个更新事情装入活动的主动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟切割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数形式 TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //依据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时刻基数单位 NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPrio rity = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); TIM4_ICInitStructure.TIM_Channel = TIM_Channel_2; TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM4_ICInitStructure.TIM_ICFilter = 0x3; //Filter:过滤 TIM_PWMIConfig(TIM4, &TIM4_ICInitStructure); //PWM输入装备 TIM_SelectInputTrigger(TIM4, TIM_TS_TI2FP2); //挑选有用输入端 TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset); //装备为主从复位形式 TIM_SelectMasterSlaveMode(TIM4, TIM_MasterSlaveMode_Enable);//发动定时器的被迫触发 TIM_ITConfig(TIM4, TIM_IT_CC2|TIM_IT_Update, ENABLE); //中止装备 TIM_ClearITPendingBit(TIM4, TIM_IT_CC2|TIM_IT_Update); //铲除中止标志位 TIM_Cmd(TIM4, ENABLE); - }
- void TIM4_IRQHandler(void)
- {
if (TIM_GetITStatus(TIM4, TIM_IT_CC2) != RESET)//捕获1产生捕获事情 { duty_TIM4 = TIM_GetCapture1(TIM4); //收集占空比 if (TIM_GetCapture2(TIM4)>600) period_TIM4 = TIM_GetCapture2(TIM4);//简略的处理 CollectFlag_TIM4 = 0; } TIM_ClearITPendingBit(TIM4, TIM_IT_CC2|TIM_IT_Update); //铲除中止标志位 - }
- void TIM1_PWMINPUT_INIT(u16 arr,u16 psc)
- {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //TIM的初始化结构体 NVIC_InitTypeDef NVIC_InitStructure; //中止装备 TIM_ICInitTypeDef TIM1_ICInitStructure; //PWM装备结构体 GPIO_InitTypeDef GPIO_InitStructure; //IO口装备结构体 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); //Open TIM1 clock RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE, ENABLE); //open gpioE clock GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE); //Timer1彻底重映射 TIM1_CH2->PE11 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; //GPIO 11 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOE, &GPIO_InitStructure); TIM_TimeBaseStructure.TIM_Period = arr; //设置鄙人一个更新事情装入活动的主动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟切割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数形式 TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //依据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时刻基数单位 NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; //TIM1捕获中止 NVIC_InitStructure.NVIC_IRQChannelPreemptionPrio rity = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); TIM1_ICInitStructure.TIM_Channel = TIM_Channel_2; TIM1_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM1_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; TIM1_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM1_ICInitStructure.TIM_ICFilter = 0x03; //Filter:过滤 TIM_PWMIConfig(TIM1, &TIM1_ICInitStructure); //PWM输入装备 TIM_SelectInputTrigger(TIM1, TIM_TS_TI2FP2); //挑选有用输入端 TIM_SelectSlaveMode(TIM1, TIM_SlaveMode_Reset); //装备为主从复位形式 TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);//发动定时器的被迫触发 - // TIM_ITConfig(TIM1, TIM_IT_CC2|TIM_IT_Update, ENABLE);
//中止装备 TIM_ITConfig(TIM1, TIM_IT_CC2, ENABLE); //通道2 捕获中止翻开 //TIM_ClearITPendingBit(TIM1, TIM_IT_CC2|TIM_IT_Update); //铲除中止标志位 TIM_Cmd(TIM1, ENABLE); - }
- void TIM1_CC_IRQHandler(void)
- {
{ if (TIM_GetITStatus(TIM1, TIM_IT_CC2) != RESET)//捕获1产生捕获事情 { duty_TIM1 = TIM_GetCapture1(TIM1); //收集占空比 if (TIM_GetCapture2(TIM1)>600) period_TIM1 = TIM_GetCapture2(TIM1); CollectFlag_TIM1 = 0; } } TIM_ClearITPendingBit(TIM1, TIM_IT_CC2|TIM_IT_Update); //铲除中止标志位 - }
- void TIM2_PWMINPUT_INIT(u16 arr,u16 psc)
- {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //TIM的初始化结构体 NVIC_InitTypeDef NVIC_InitStructure; //中止装备 TIM_ICInitTypeDef TIM2_ICInitStructure; //TIM2 PWM装备结构体 GPIO_InitTypeDef GPIO_InitStructure; //IO口装备结构体 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //Open TIM2 clock - // RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
//open gpioB clock - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB
| RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功用模块时钟 - GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);
//封闭JTAG GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, ENABLE); //Timer2彻底重映射 TIM2_CH2->PB3 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; //GPIO 3 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //浮空输入 上拉输入 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); TIM_TimeBaseStructure.TIM_Period = arr; //设置鄙人一个更新事情装入活动的主动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟切割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数形式 TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //依据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时刻基数单位 NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPrio rity = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); TIM2_ICInitStructure.TIM_Channel = TIM_Channel_2; TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM2_ICInitStructure.TIM_ICFilter = 0x3; //Filter:过滤 TIM_PWMIConfig(TIM2, &TIM2_ICInitStructure); //PWM输入装备 TIM_SelectInputTrigger(TIM2, TIM_TS_TI2FP2); //挑选有用输入端 TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset); //装备为主从复位形式 TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable);//发动定时器的被迫触发 TIM_ITConfig(TIM2, TIM_IT_CC2|TIM_IT_Update, ENABLE); //中止装备 TIM_ClearITPendingBit(TIM2, TIM_IT_CC2|TIM_IT_Update); //铲除中止标志位 TIM_Cmd(TIM2, ENABLE); - }
- void TIM2_IRQHandler(void)
- {
{ if (TIM_GetITStatus(TIM2, TIM_IT_CC2) != RESET)//捕获1产生捕获事情 { duty_TIM2 = TIM_GetCapture1(TIM2); //收集占空比 if (TIM_GetCapture2(TIM2)>600) period_TIM2 = TIM_GetCapture2(TIM2); CollectFlag_TIM2 = 0; } } TIM_ClearITPendingBit(TIM2, TIM_IT_CC2|TIM_IT_Update); //铲除中止标志位 - }
-
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