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
int
32_t BLDC_SpdPIDCalc(int
32_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 "stm
32f4xx_hal.h"
#include "bldc/bsp_bldc.h"
#include "key/bsp_key.h"
#include "beep/bsp_beep.h"
#include "HMI/bsp_usartx_HMI.h"
/* Ë&frac
12;ÓÐÀàÐͶ¨Òå --------------------------------------------------------------*/
typedef struct
{
__IO int
32_t SetPoint; //É趨Ŀ±ê Desired Value
__IO long SumError; //Îó&sup
2;îÀÛ&frac
14;Æ
__IO float Proportion; //±ÈÀý&sup
3;£Êý Proportional Const
__IO float Integral; //»ý·Ö&sup
3;£Êý Integral Const
__IO float Derivative; //΢·Ö&sup
3;£Êý Derivative Const
__IO int LastError; //Error[-
1]
}PID_Typedef;
/* Ë&frac
12;Óк궨Òå ----------------------------------------------------------------*/
//&frac
12;«¸¡µãÊýxËÄÉáÎåÈëΪint
32_t
#define ROUND_TO_INT
32(x) ((int
32_t)(x)+0.5f)>=(x)? ((int
32_t)(x)):((int
32_t)(x)+
1)
#define WIN 8
#define P_DATA 0.0
35f // P&sup
2;ÎÊý
#define I_DATA 0.
10f // I&sup
2;ÎÊý
#define D_DATA 0.0f // D&sup
2;ÎÊý
#define TARGET_SPEED 500
/* Ë&frac
12;ÓбäÁ¿ ------------------------------------------------------------------*/
__IO int
32_t flag = 0; // µÃµ&frac
12;WIN´ÎËÙ¶ÈÖµµÄ±êÖ&frac
34;
__IO int
32_t start_flag = 0; // Æô¶¯±êÖ&frac
34;
__IO int
32_t Avg_cnt = 0; // Æ&frac
12;&frac
34;ùÖµ&frac
14;ÆÊý
__IO float Avg_Speed[WIN]= {0};// Ç°WIN´ÎµÄËÙ¶ÈÖµ
static __IO int
32_t BLDC_CaptureNumber = 0; // ÊäÈë&sup
2;¶»ñÊý
__IO PID_Typedef PID_BLDC; // BLDC PID¿ØÖÆ&frac
12;á&sup
1;&sup
1;Ìå
int
32_t BLDC_SPEED_MAX = (
3000); // µç»ú×î´óËÙ¶È//ĬÈÏ
3000
int
32_t BLDC_SPEED_MIN = (-
3000); // µç»ú×î´óËÙ¶È//ĬÈÏ
3000
uint
32_t Time_CNT = 0;
/* À©Õ&sup
1;±äÁ¿ ------------------------------------------------------------------*/
/* Ë&frac
12;Óк¯ÊýÔÐÎ --------------------------------------------------------------*/
static void IncPIDInit(void) ;
static float Avg_speed(float Speed);
int
32_t BLDC_SpdPIDCalc(int
32_t NextPoint);
void UpdateHMI_SM_PID_feedback(int
32_t CaptureNumber,int
32_t RPM);
static void UpdateHMI_SM_PID_Param(PID_Typedef Param_Pos);
void BLDC_SetTargetSpd(int
32_t Spd);
/* º¯ÊýÌå --------------------------------------------------------------------*/
/**
* º¯Êý&sup
1;¦ÄÜ: ϵÍ&sup
3;ʱÖÓÅäÖÃ
* ÊäÈë&sup
2;ÎÊý: ÎÞ
* ·µ »Ø Öµ: ÎÞ
* ˵ Ã&div
ide;: ÎÞ
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
__HAL_RCC_PWR_CLK_ENABLE(); // Ê&sup
1;ÄÜPWRʱÖÓ
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE
1);// ÉèÖõ&div
ide;Ñ&sup
1;Æ&div
ide;Êä&sup
3;öµçÑ&sup
1;&frac
14;¶±ð
1
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;// Íâ&sup
2;¿&frac
34;§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_DIV
2; //
2·ÖƵ£¬µÃµ&frac
12;
168MHzÖ&div
ide;ʱÖÓ
RCC_OscInitStruct.PLL.PLLQ = 7; // USB/SDIO/Ëæ»úÊý&sup
2;úÉúÆ&div
ide;µÈµÄÖ&div
ide;PLL·ÖƵϵÊý
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK
1|RCC_CLOCKTYPE_PCLK
2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; // ϵÍ&sup
3;汅
168MHz
RCC_ClkInitStruct.AHBCLKDiv
ider = RCC_SYSCLK_DIV
1; // AHB汅
168MHz
RCC_ClkInitStruct.APB
1CLKDiv
ider = RCC_HCLK_DIV4; // APB
1汅4
2MHz
RCC_ClkInitStruct.APB
2CLKDiv
ider = RCC_HCLK_DIV
2; // APB
2汅84MHz
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
HAL_RCC_EnableCSS(); // Ê&sup
1;ÄÜCSS&sup
1;¦ÄÜ£¬ÓÅÏÈÊ&sup
1;ÓÃÍâ&sup
2;¿&frac
34;§Õñ£¬ÄÚ&sup
2;¿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); // ÅäÖÃ&sup
2;¢Æô¶¯ÏµÍ&sup
3;µÎ´ð¶¨Ê±Æ&div
ide;
/* ϵÍ&sup
3;µÎ´ð¶¨Ê±Æ&div
ide;ʱÖÓÔ´ */
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* ϵÍ&sup
3;µÎ´ð¶¨Ê±Æ&div
ide;ÖжÏÓÅÏÈ&frac
14;¶ÅäÖà */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/**
* º¯Êý&sup
1;¦ÄÜ: Ö&div
ide;º¯Êý.
* ÊäÈë&sup
2;ÎÊý: ÎÞ
* ·µ »Ø Öµ: ÎÞ
* ˵ Ã&div
ide;: ÎÞ
*/
int main(void)
{
/* ¸´Î»ËùÓÐÍâÉ裬&sup
3;õÊ&frac
14;»¯Flash&frac
12;Ó¿ÚºÍϵÍ&sup
3;µÎ´ð¶¨Ê±Æ&div
ide; */
HAL_Init();
/* ÅäÖÃϵÍ&sup
3;ʱÖÓ */
SystemClock_Config();
/* &sup
3;õÊ&frac
14;»¯°´&frac
14;üÅäÖà */
KEY_GPIO_Init();
/* &sup
3;õÊ&frac
14;»¯´®¿ÚÅäÖà */
HMI_USARTx_Init();
/* &sup
3;õÊ&frac
14;»¯»ô¶û´«¸ÐÆ&div
ide;&frac
12;Ó¿Ú */
HALL_TIMx_Init();
/* &sup
3;õÊ&frac
14;»¯¶¨Ê±Æ&div
ide;¸&div
ide;ͨµÀÊä&sup
3;ö */
BLDCMOTOR_TIMx_Init();
/* Æô¶¯¶¨Ê±Æ&div
ide; */
HAL_TIM_Base_Start(&htimx_BLDC);
/* &sup
3;õÊ&frac
14;»¯PID&sup
2;ÎÊý*/
IncPIDInit();
// UpdateHMI_SM_PID_Param(BLDC_sPID);
/* ÔÚ·ÂÕæµÄʱºò&frac
12;ûÖ&sup
1;¶¨Ê±Æ&div
ide;Êä&sup
3;ö */
__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;
/* ÉèÖÃPID&sup
2;ÎÊýP */
case EX_PID_NUM_POSP:
PID_BLDC.Proportion = Frame.Param.Init/
1000.0f;
Frame.ObjID = NONEOBJ;
break;
/* ÉèÖÃPID&sup
2;ÎÊýI */
case EX_PID_NUM_POSI:
PID_BLDC.Integral = Frame.Param.Init/
1000.0f;
Frame.ObjID = NONEOBJ;
break;
/* ÉèÖÃPID&sup
2;ÎÊýD */
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;
/* ꣅ&sup
1;°´Å¥£¬Í£Ö&sup
1;µç»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´®¿ÚÆÁ&frac
34;ö¶¨Ê±&frac
14;ä&frac
14;ä¸ô
UpdateHMI_SM_PID_feedback(0,BLDC_CaptureNumber);
UpdateHMI_SM_PID_Param(PID_BLDC);
Frame.ObjID = NONEOBJ;
break;
}
}
/* Ê&sup
1;Äܵç»ú */
if(KEY
1_StateRead() == KEY_DOWN)
{
Enable_BLDC();
start_flag =
1;
}
/* µç»úÍ£Ö&sup
1; */
if(KEY
2_StateRead() == KEY_DOWN)
{
Disable_BLDC();
start_flag = 0;
}
}
}
/**
* º¯Êý&sup
1;¦ÄÜ: PID&sup
2;ÎÊý&sup
3;õÊ&frac
14;»¯
* ÊäÈë&sup
2;ÎÊý: ÎÞ
* ·µ »Ø Öµ: ÎÞ
* ˵ Ã&div
ide;: ÎÞ
*/
void IncPIDInit(void)
{
PID_BLDC.LastError = 0; // Error[-
1]
PID_BLDC.Proportion = P_DATA; // ±ÈÀý&sup
3;£Êý Proportional Const
PID_BLDC.Integral = I_DATA; // »ý·Ö&sup
3;£Êý Integral Const
PID_BLDC.Derivative = D_DATA; // ΢·Ö&sup
3;£Êý Derivative Const
PID_BLDC.SetPoint = TARGET_SPEED;// É趨Ŀ±êDesired Value
}
/****************************** ÐÅÏ¢·´À¡º¯Êý **********************************/
///**
// * º¯Êý&sup
1;¦ÄÜ£º¸üд®¿ÚÆÁ&frac
12;çÃæµÄPID&sup
2;ÎÊýºÍÄ¿±êÖµ
// * ÊäÈë&sup
2;ÎÊý£ºParam_Pos,ËٶȻ·µÄPID&frac
12;á&sup
1;&sup
1;ÌåÖ¸Õë
// * ·µ »Ø Öµ£ºÎÞ
// * ˵ Ã&div
ide;£º¸üеÄÊÇĬÈϵÄPID&sup
2;ÎÊýºÍÄ¿±êÖµ
// */
static void UpdateHMI_SM_PID_Param(PID_Typedef Param_Pos)
{
float tmp = 0;
// /* ¸üд®¿ÚÆÁµÄPID&sup
2;ÎÊý,PID&sup
2;ÎÊý¶&frac
14;ÊÇ·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¯Êý&sup
1;¦ÄÜ£º¸üд®¿ÚÆÁ&frac
12;çÃæµÄÊý&frac
34;Ý
* ÊäÈë&sup
2;ÎÊý£ºÎÞ
* ·µ »Ø Öµ£ºÎÞ
* ˵ Ã&div
ide;£º¸üÐÂλÖÃÖµºÍËÙ¶ÈÖµ
*/
void UpdateHMI_SM_PID_feedback(int
32_t CaptureNumber,int
32_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_INT
32(PID_BLDC.SetPoint/
10));
}
/******************** Ëٶȱջ· PID ¿ØÖÆÉè&frac
14;Æ ***********************************/
/**
* º¯Êý&sup
1;¦ÄÜ: »¬¶¯ÂË&sup
2;¨º¯Êý
* ÊäÈë&sup
2;ÎÊý: ËÙ¶ÈÖµ(r/min)
* ·µ »Ø Öµ: ÂË&sup
2;¨ºóµÄËÙ¶ÈÖµ(r/min)
* ˵ Ã&div
ide;: ¶ÔËÙ¶ÈÖµ&frac
12;øÐ묶¯ÂË&sup
2;¨´¦Àí,´ó¸ÅÁ&div
ide;&sup
3;Ì:
* ¶ÔÇ°WIN´Î&sup
2;ÉÑùµÄËÙ¶ÈֵȡÆ&frac
12;&frac
34;ùÖµ
*/
float Avg_speed(float Speed)
{
int
32_t i = 0;
float Sum = 0;
Avg_Speed[Avg_cnt] =Speed;
Avg_cnt++;
if(Avg_cnt == WIN)
{
Avg_cnt = 0;
flag =
1;
}
/* ÔÚ&sup
2;ÉÑù´ÎÊýÉÙÓÚn´ÎµÄÇé¿öÏÂ&frac
14;ÆËã&frac
34;ùÖµ */
if(flag == 0)
{
for(i = 0; i<Avg_cnt;i++)
{
Sum += Avg_Speed[i];
}
Sum /= (i+
1);
}
/* ÇóµÃÇ°n´ÎµÄÆ&frac
12;&frac
34;ùÖµ */
else
{
for(i = 0; i<WIN;i++)
{
Sum += Avg_Speed[i];
}
Sum /= WIN;
}
return Sum;
}
/**
* º¯Êý&sup
1;¦ÄÜ: ϵÍ&sup
3;µÎ´ð¶¨Ê±Æ&div
ide;Öжϻص&div
ide;º¯Êý
* ÊäÈë&sup
2;ÎÊý: ÎÞ
* ·µ »Ø Öµ: ÎÞ
* ˵ Ã&div
ide;: ÿ·¢ÉúÒ»´ÎµÎ´ð¶¨Ê±Æ&div
ide;ÖжÏ&frac
12;øÈë¸Ã»Øµ&div
ide;º¯ÊýÒ»´Î
*/
void HAL_SYSTICK_Callback()
{
float speed_rpm = 0;
int
32_t PID_Result = 0;
Time_CNT++;
/*
100ms &sup
2;ÉÑùÖÜÆÚ,¿ØÖÆÖÜÆÚ */
if(Time_CNT >=
100)
{
Time_CNT = 0;
/* »ñÈ¡ËÙ¶ÈÖµ:ÓÉ&sup
2;¶»ñµ&frac
12;µÄÂö&sup
3;åÊý&sup
3;ýÒÔ×ܵÄʱ&frac
14;ä Pul/t */
/* BLDCMotorÊÇ4¶Ô&frac
14;«,ÐýתһȦÓÐ4¸öÂö&sup
3;åÐźÅ,
3ÏàUVWÐźÅÏß,&sup
1;&sup
2;
12¸öÂö&sup
3;åÐźÅ,
* ÿ¸öÂö&sup
3;å±ßÑØ&frac
14;ÆÊýÒ»´Î,ËùÒÔBLDCMÐýתһȦ,¿ÉÒÔ&sup
2;¶»ñµ&frac
12;µÄ»ô¶ûÐźÅÊÇ
24,
* &frac
14;ÆÊýÖµ¿ÉÒÔ&frac
14;ÆÊýµ&frac
12;
24.ÿ¸öÐźűßÑض&frac
14;ȇ&sup
2;¶»ñµ&frac
12;&frac
12;Ó¿Ú¶¨Ê±Æ&div
ide;µÄCCR
1,
* ÿ
100ms¶ÁÈ¡&sup
2;¶»ñµ&frac
12;µÄʱ&frac
14;äºÍÂö&sup
3;åÊý,&frac
34;Í¿ÉÒԵõ&frac
12;µç»úµÄËÙ¶ÈÖµ.
*/
if(BLDCMotor.Hall_Period == 0)//±ÜÃâ&sup
3;ýÊýΪ0
{
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»¬¶¯ÂË&sup
2;¨´¦Àí
BLDC_CaptureNumber = (int
32_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¿ØÖÆ&frac
14;ÆËã */
PID_Result = BLDC_SpdPIDCalc(BLDC_CaptureNumber);
/* ·&frac
12;ÏòÅж¨ */
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;
}
/* Õ&frac
14;¿Õ±ÈÏÞ¶¨ */
if(BLDCMotor.PWM_Duty >=(int
32_t)(BLDCMOTOR_TIM_PERIOD -
100))
BLDCMotor.PWM_Duty = (int
32_t)(BLDCMOTOR_TIM_PERIOD -
100);
/* ¸ù&frac
34;ݵ±Ç°Ô˶¯·&frac
12;Ïò,Á¢&frac
14;´ÐÞ¸ÄÕ&frac
14;¿Õ±È */
BLDCMotor.uwStep = HallSensor_GetPinState();
if(MotorDirction == MOTOR_DIR_CW)
{
// ¸ù&frac
34;ÝË&sup
3;Ðò±íµÄ&sup
1;æÂÉ CW = 7 - CCW;
BLDCMotor.uwStep = (uint
32_t)7 - BLDCMotor.uwStep;
}
/* ¸ù&frac
34;Ý·&frac
12;ÏòÉ趨¶ÔӦͨµÀµÄÕ&frac
14;¿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¯ÊýÃû&sup
3;Æ£ºËٶȱջ·PID¿ØÖÆÉè&frac
14;Æ
* ÊäÈë&sup
2;ÎÊý£ºµ±Ç°¿ØÖÆÁ¿
* ·µ »Ø Öµ£ºÄ¿±ê¿ØÖÆÁ¿
* ˵ Ã&div
ide;£ºÎÞ
*/
int
32_t BLDC_SpdPIDCalc(int
32_t NextPoint)
{
}
/**
* º¯Êý&sup
1;¦ÄÜ: ÉèÖÃBLDCÄ¿±êËÙ¶È
* ÊäÈë&sup
2;ÎÊý: ÎÞ
* ·µ »Ø Öµ: ÎÞ
* ˵ Ã&div
ide;: ÏÞÖÆËÙ¶ÈÔÚãÐÖµ·¶Î§ÄÚ
*/
void BLDC_SetTargetSpd(int
32_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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