根据增量式PID算法原理，完成main.c文件IncPIDInit()函数pid的初始化和
int32_t BLDC_SpdPIDCalc(int32_t NextPoint)函数的编写。条件：当误差小于等于正负3时，视为无误差。
#include "main.h"
#include "math.h"
#include "stm32f4xx_hal.h"
#include "bldc/bsp_bldc.h"
#include "key/bsp_key.h"
#include "beep/bsp_beep.h"
#include "HMI/bsp_usartx_HMI.h"
/* ˽ÓÐÀàÐͶ¨Òå --------------------------------------------------------------*/
typedef struct
{
__IO int32_t SetPoint; //É趨Ŀ±ê Desired Value
__IO long SumError; //Îó²îÀÛ¼Æ
__IO float Proportion; //±ÈÀý³£Êý Proportional Const
__IO float Integral; //»ý·Ö³£Êý Integral Const
__IO float Derivative; //΢·Ö³£Êý Derivative Const
__IO int LastError; //Error[-1]
}PID_Typedef;
/* ˽Óк궨Òå ----------------------------------------------------------------*/
//½«¸¡µãÊýxËÄÉáÎåÈëΪint32_t
#define ROUND_TO_INT32(x) ((int32_t)(x)+0.5f)>=(x)? ((int32_t)(x))
:((int32_t)(x)+1)
#define WIN 8
#define P_DATA 0.035f // P²ÎÊý
#define I_DATA 0.
10f // I²ÎÊý
#define D_DATA 0.0f // D²ÎÊý
#define TARGET_SPEED 500
/* ˽ÓбäÁ¿ ------------------------------------------------------------------*/
__IO int32_t flag = 0; // µÃµ½WIN´ÎËÙ¶ÈÖµµÄ±êÖ¾
__IO int32_t start_flag = 0; // Æô¶¯±êÖ¾
__IO int32_t Avg_cnt = 0; // ƽ¾ùÖµ¼ÆÊý
__IO float Avg_Speed[WIN]= {0};// Ç°WIN´ÎµÄËÙ¶ÈÖµ
static __IO int32_t BLDC_CaptureNumber = 0; // ÊäÈ벶»ñÊý
__IO PID_Typedef PID_BLDC; // BLDC PID¿ØÖƽṹÌå
int32_t BLDC_SPEED_MAX = (3000); // µç»ú×î´óËÙ¶È//ĬÈÏ3000
int32_t BLDC_SPEED_MIN = (-3000); // µç»ú×î´óËÙ¶È//ĬÈÏ3000
uint32_t Time_CNT = 0;
/* À©Õ¹±äÁ¿ ------------------------------------------------------------------*/
/* ˽Óк¯ÊýÔÐÎ --------------------------------------------------------------*/
static void IncPIDInit(void) ;
static float Avg_speed(float Speed);
int32_t BLDC_SpdPIDCalc(int32_t NextPoint);
void UpdateHMI_SM_PID_feedback(int32_t CaptureNumber,int32_t RPM);
static void UpdateHMI_SM_PID_Param(PID_Typedef Param_Pos);
void BLDC_SetTargetSpd(int32_t Spd);
/* º¯ÊýÌå --------------------------------------------------------------------*/
/**
* º¯Êý¹¦ÄÜ
: ϵͳʱÖÓÅäÖÃ
* ÊäÈë²ÎÊý
: ÎÞ
* ·µ »Ø Öµ
: ÎÞ
* ˵ Ã÷
: ÎÞ
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
__HAL_RCC_PWR_CLK_ENABLE(); // ʹÄÜPWRʱÖÓ
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);// ÉèÖõ÷ѹÆ÷Êä³öµçѹ¼¶±ð1
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;// Íⲿ¾§Õñ£¬8MHz
RCC_OscInitStruct.HSEState = RCC_HSE_ON; // ´ò¿ªHSE
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; // ´ò¿ªPLL
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;// PLLʱÖÓÔ´Ñ¡ÔñHSE
RCC_OscInitStruct.PLL.PLLM = 8; // 8·ÖƵMHz
RCC_OscInitStruct.PLL.PLLN = 336; // 336±¶Æµ
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; // 2·ÖƵ£¬µÃµ½168MHzÖ÷ʱÖÓ
RCC_OscInitStruct.PLL.PLLQ = 7; // USB/SDIO/Ëæ»úÊý²úÉúÆ÷µÈµÄÖ÷PLL·ÖƵϵÊý
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; // ϵͳʱÖÓ£º168MHz
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; // AHB汅 168MHz
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; // APB1汅42MHz
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; // APB2汅84MHz
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
HAL_RCC_EnableCSS(); // ʹÄÜCSS¹¦ÄÜ£¬ÓÅÏÈʹÓÃÍⲿ¾§Õñ£¬ÄÚ²¿Ê±ÖÓԴΪ±¸ÓÃ
// HAL_RCC_GetHCLKFreq()/
1000 1msÖжÏÒ»´Î
// HAL_RCC_GetHCLKFreq()/
100000
10usÖжÏÒ»´Î
// HAL_RCC_GetHCLKFreq()/
1000000 1usÖжÏÒ»´Î
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/
1000); // ÅäÖò¢Æô¶¯ÏµÍ³µÎ´ð¶¨Ê±Æ÷
/* ϵͳµÎ´ð¶¨Ê±Æ÷ʱÖÓÔ´ */
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* ϵͳµÎ´ð¶¨Ê±Æ÷ÖжÏÓÅÏȼ¶ÅäÖà */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/**
* º¯Êý¹¦ÄÜ
: Ö÷º¯Êý.
* ÊäÈë²ÎÊý
: ÎÞ
* ·µ »Ø Öµ
: ÎÞ
* ˵ Ã÷
: ÎÞ
*/
int main(void)
{
/* ¸´Î»ËùÓÐÍâÉ裬³õʼ»¯Flash½Ó¿ÚºÍϵͳµÎ´ð¶¨Ê±Æ÷ */
HAL_Init();
/* ÅäÖÃϵͳʱÖÓ */
SystemClock_Config();
/* ³õʼ»¯°´¼üÅäÖà */
KEY_GPIO_Init();
/* ³õʼ»¯´®¿ÚÅäÖà */
HMI_USARTx_Init();
/* ³õʼ»¯»ô¶û´«¸ÐÆ÷½Ó¿Ú */
HALL_TIMx_Init();
/* ³õʼ»¯¶¨Ê±Æ÷¸÷ͨµÀÊä³ö */
BLDCMOTOR_TIMx_Init();
/* Æô¶¯¶¨Ê±Æ÷ */
HAL_TIM_Base_Start(&htimx_BLDC);
/* ³õʼ»¯PID²ÎÊý*/
IncPIDInit();
// UpdateHMI_SM_PID_Param(BLDC_sPID);
/* ÔÚ·ÂÕæµÄʱºò½ûÖ¹¶¨Ê±Æ÷Êä³ö */
__HAL_DBGMCU_FREEZE_TIM8();
while (1)
{
if(Frame.PageID == PAGE_EX_PID)
{
switch(Frame.ObjID )
{
/* ÉèÖÃÄ¿±êÖµ */
case EX_PID_NUM_POSTAR
:
BLDC_SetTargetSpd( Frame.Param.Init/
10 );
Frame.ObjID = NONEOBJ;
break;
/* ÉèÖÃPID²ÎÊýP */
case EX_PID_NUM_POSP
:
PID_BLDC.Proportion = Frame.Param.Init/
1000.0f;
Frame.ObjID = NONEOBJ;
break;
/* ÉèÖÃPID²ÎÊýI */
case EX_PID_NUM_POSI
:
PID_BLDC.Integral = Frame.Param.Init/
1000.0f;
Frame.ObjID = NONEOBJ;
break;
/* ÉèÖÃPID²ÎÊýD */
case EX_PID_NUM_POSD
:
PID_BLDC.Derivative = Frame.Param.Init/
1000.0f;
Frame.ObjID = NONEOBJ;
break;
/* È·¶¨°´Å¥£¬Æô¶¯µç»ú */
case EX_PID_BTN_CONFIG
:
Enable_BLDC();
start_flag = 1;
Frame.ObjID = NONEOBJ;
break;
/* Í£Ö¹°´Å¥£¬Í£Ö¹µç»ú */
case EX_PID_BTN_PAUSE
:
Disable_BLDC();
start_flag = 0;
PID_BLDC.LastError = 0;// Error[-1]
PID_BLDC.SumError = 0;
Frame.ObjID = NONEOBJ;
break;
case EX_PID_BTN_UDATE
:// ¶¨Ê±ÈÎÎñ£¬ÓÉ´®¿ÚÆÁ¾ö¶¨Ê±¼ä¼ä¸ô
UpdateHMI_SM_PID_feedback(0,BLDC_CaptureNumber);
UpdateHMI_SM_PID_Param(PID_BLDC);
Frame.ObjID = NONEOBJ;
break;
}
}
/* ʹÄܵç»ú */
if(KEY1_StateRead() == KEY_DOWN)
{
Enable_BLDC();
start_flag = 1;
}
/* µç»úÍ£Ö¹ */
if(KEY2_StateRead() == KEY_DOWN)
{
Disable_BLDC();
start_flag = 0;
}
}
}
/**
* º¯Êý¹¦ÄÜ
: PID²ÎÊý³õʼ»¯
* ÊäÈë²ÎÊý
: ÎÞ
* ·µ »Ø Öµ
: ÎÞ
* ˵ Ã÷
: ÎÞ
*/
void IncPIDInit(void)
{
PID_BLDC.LastError = 0; // Error[-1]
PID_BLDC.Proportion = P_DATA; // ±ÈÀý³£Êý Proportional Const
PID_BLDC.Integral = I_DATA; // »ý·Ö³£Êý Integral Const
PID_BLDC.Derivative = D_DATA; // ΢·Ö³£Êý Derivative Const
PID_BLDC.SetPoint = TARGET_SPEED;// É趨Ŀ±êDesired Value
}
/****************************** ÐÅÏ¢·´À¡º¯Êý **********************************/
///**
// * º¯Êý¹¦ÄÜ£º¸üд®¿ÚÆÁ½çÃæµÄPID²ÎÊýºÍÄ¿±êÖµ
// * ÊäÈë²ÎÊý£ºParam_Pos,ËٶȻ·µÄPID½á¹¹ÌåÖ¸Õë
// * ·µ »Ø Öµ£ºÎÞ
// * ˵ Ã÷£º¸üеÄÊÇĬÈϵÄPID²ÎÊýºÍÄ¿±êÖµ
// */
static void UpdateHMI_SM_PID_Param(PID_Typedef Param_Pos)
{
float tmp = 0;
// /* ¸üд®¿ÚÆÁµÄPID²ÎÊý,PID²ÎÊý¶¼ÊÇ·Å´ó
1000±¶ */
tmp = ( (float)Param_Pos.Proportion *
1000.0f );
HMI_value_setting("numPosP.val",tmp);
tmp = ( (float)Param_Pos.Integral *
1000.0f );
HMI_value_setting("numPosI.val",tmp);
tmp = ( (float)Param_Pos.Derivative *
1000.0f );
HMI_value_setting("numPosD.val",tmp);
tmp = ( (float)Param_Pos.SetPoint );
HMI_string_setting("numPosTar.txt",tmp);
}
/**
* º¯Êý¹¦ÄÜ£º¸üд®¿ÚÆÁ½çÃæµÄÊý¾Ý
* ÊäÈë²ÎÊý£ºÎÞ
* ·µ »Ø Öµ£ºÎÞ
* ˵ Ã÷£º¸üÐÂλÖÃÖµºÍËÙ¶ÈÖµ
*/
void UpdateHMI_SM_PID_feedback(int32_t CaptureNumber,int32_t RPM)
{
HMI_string_setting("txtPosition.txt",0);
HMI_string_setting("txtSpeed.txt",RPM);
/* ·¢ËÍ·´À¡Öµ */
HMI_value_setting("vatmpReal.val",RPM/
10);
HMI_value_setting("vatmpTarget.val",ROUND_TO_INT32(PID_BLDC.SetPoint/
10));
}
/******************** Ëٶȱջ· PID ¿ØÖÆÉè¼Æ ***********************************/
/**
* º¯Êý¹¦ÄÜ
: »¬¶¯Â˲¨º¯Êý
* ÊäÈë²ÎÊý
: ËÙ¶ÈÖµ(r/min)
* ·µ »Ø Öµ
: Â˲¨ºóµÄËÙ¶ÈÖµ(r/min)
* ˵ Ã÷
: ¶ÔËÙ¶ÈÖµ½øÐ묶¯Â˲¨´¦Àí,´ó¸ÅÁ÷³Ì
:
* ¶ÔÇ°WIN´Î²ÉÑùµÄËÙ¶Èֵȡƽ¾ùÖµ
*/
float Avg_speed(float Speed)
{
int32_t i = 0;
float Sum = 0;
Avg_Speed[Avg_cnt] =Speed;
Avg_cnt++;
if(Avg_cnt == WIN)
{
Avg_cnt = 0;
flag = 1;
}
/* ÔÚ²ÉÑù´ÎÊýÉÙÓÚn´ÎµÄÇé¿öϼÆËã¾ùÖµ */
if(flag == 0)
{
for(i = 0; i<Avg_cnt;i++)
{
Sum += Avg_Speed[i];
}
Sum /= (i+1);
}
/* ÇóµÃÇ°n´ÎµÄƽ¾ùÖµ */
else
{
for(i = 0; i<WIN;i++)
{
Sum += Avg_Speed[i];
}
Sum /= WIN;
}
return Sum;
}
/**
* º¯Êý¹¦ÄÜ
: ϵͳµÎ´ð¶¨Ê±Æ÷Öжϻص÷º¯Êý
* ÊäÈë²ÎÊý
: ÎÞ
* ·µ »Ø Öµ
: ÎÞ
* ˵ Ã÷
: ÿ·¢ÉúÒ»´ÎµÎ´ð¶¨Ê±Æ÷ÖжϽøÈë¸Ã»Øµ÷º¯ÊýÒ»´Î
*/
void HAL_SYSTICK_Callback()
{
float speed_rpm = 0;
int32_t PID_Result = 0;
Time_CNT++;
/*
100ms ²ÉÑùÖÜÆÚ,¿ØÖÆÖÜÆÚ */
if(Time_CNT >=
100)
{
Time_CNT = 0;
/* »ñÈ¡ËÙ¶ÈÖµ
:Óɲ¶»ñµ½µÄÂö³åÊý³ýÒÔ×ܵÄʱ¼ä Pul/t */
/* BLDCMotorÊÇ4¶Ô¼«,ÐýתһȦÓÐ4¸öÂö³åÐźÅ,3ÏàUVWÐźÅÏß,¹²12¸öÂö³åÐźÅ,
* ÿ¸öÂö³å±ßÑؼÆÊýÒ»´Î,ËùÒÔBLDCMÐýתһȦ,¿ÉÒÔ²¶»ñµ½µÄ»ô¶ûÐźÅÊÇ24,
* ¼ÆÊýÖµ¿ÉÒÔ¼ÆÊýµ½24.ÿ¸öÐźűßÑض¼»á²¶»ñµ½½Ó¿Ú¶¨Ê±Æ÷µÄCCR1,
* ÿ
100ms¶ÁÈ¡²¶»ñµ½µÄʱ¼äºÍÂö³åÊý,¾Í¿ÉÒԵõ½µç»úµÄËÙ¶ÈÖµ.
*/
if(BLDCMotor.Hall_Period == 0)//±ÜÃâ³ýÊýΪ0
{
speed_rpm = 0;
}
else
/*Ëٶȵ¥Î»
:RPM*/
speed_rpm = (((float)BLDCMotor.Hall_PulNum*60*HALL_TIM_FREQ) /
((float)BLDCMotor.Hall_Period*24));
//¶ÔËÙ¶ÈÖµ×ö»¬¶¯Â˲¨´¦Àí
BLDC_CaptureNumber = (int32_t)Avg_speed(speed_rpm);
BLDCMotor.Hall_Period = 0;
BLDCMotor.Hall_PulNum = 0;
if(start_flag == 1)
{
if(MotorDirction == MOTOR_DIR_CCW)
BLDC_CaptureNumber = -BLDC_CaptureNumber;
/* PID¿ØÖƼÆËã */
PID_Result = BLDC_SpdPIDCalc(BLDC_CaptureNumber);
/* ·½ÏòÅж¨ */
if(PID_Result<0)
{
BLDCMotor.Dir = MOTOR_DIR_CCW;
BLDCMotor.PWM_Duty = -PID_Result;
}
else
{
BLDCMotor.Dir = MOTOR_DIR_CW;
BLDCMotor.PWM_Duty = PID_Result;
}
/* Õ¼¿Õ±ÈÏÞ¶¨ */
if(BLDCMotor.PWM_Duty >=(int32_t)(BLDCMOTOR_TIM_PERIOD -
100))
BLDCMotor.PWM_Duty = (int32_t)(BLDCMOTOR_TIM_PERIOD -
100);
/* ¸ù¾Ýµ±Ç°Ô˶¯·½Ïò,Á¢¼´ÐÞ¸ÄÕ¼¿Õ±È */
BLDCMotor.uwStep = HallSensor_GetPinState();
if(MotorDirction == MOTOR_DIR_CW)
{
// ¸ù¾Ý˳Ðò±íµÄ¹æÂÉ CW = 7 - CCW;
BLDCMotor.uwStep = (uint32_t)7 - BLDCMotor.uwStep;
}
/* ¸ù¾Ý·½ÏòÉ趨¶ÔӦͨµÀµÄÕ¼¿Õ±È */
switch(BLDCMotor.uwStep)
{
case 2
: // AÏà
case 6
:
__HAL_TIM_SET_COMPARE(&htimx_BLDC,TIM_CHANNEL_1,BLDCMotor.PWM_Duty);
break;
case 4
: // BÏà
case 5
:
__HAL_TIM_SET_COMPARE(&htimx_BLDC,TIM_CHANNEL_2,BLDCMotor.PWM_Duty);
break;
case 1
: // CÏà
case 3
:
__HAL_TIM_SET_COMPARE(&htimx_BLDC,TIM_CHANNEL_3,BLDCMotor.PWM_Duty);
break;
}
/* µ±»»ÏòµÄʱºò£¬µç»ú¿ÉÄÜ»áÆô¶¯Ê§°Ü£¬ÕâÀïÖØÐÂÆô¶¯Ò»´Î */
if(MotorDirction != BLDCMotor.Dir)
{
Disable_BLDC();
Enable_BLDC();
}
else if(speed_rpm == 0)
{
Disable_BLDC();
Enable_BLDC();
}
}
}
}
/**
* º¯ÊýÃû³Æ£ºËٶȱջ·PID¿ØÖÆÉè¼Æ
* ÊäÈë²ÎÊý£ºµ±Ç°¿ØÖÆÁ¿
* ·µ »Ø Öµ£ºÄ¿±ê¿ØÖÆÁ¿
* ˵ Ã÷£ºÎÞ
*/
int32_t BLDC_SpdPIDCalc(int32_t NextPoint)
{
}
/**
* º¯Êý¹¦ÄÜ
: ÉèÖÃBLDCÄ¿±êËÙ¶È
* ÊäÈë²ÎÊý
: ÎÞ
* ·µ »Ø Öµ
: ÎÞ
* ˵ Ã÷
: ÏÞÖÆËÙ¶ÈÔÚãÐÖµ·¶Î§ÄÚ
*/
void BLDC_SetTargetSpd(int32_t Spd)
{
if(Spd >= BLDC_SPEED_MAX)
Spd = BLDC_SPEED_MAX;
if(Spd <= BLDC_SPEED_MIN)
Spd = BLDC_SPEED_MIN;
PID_BLDC.SetPoint = Spd;
}
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