STM32直流电机闭环调速系统源程序

李渔滢

2018-7-2 08:13:47 2661 STM32 直流电机闭环调速系统

直流电机闭环调速系统单片机源程序如下:

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "pwm.h"
#include "lcd.h"
#include "math.h"
#include "touch.h"
extern u8 count;
extern u8 flag,flag_1;
extern u32 tiM5CH1_CAPTURE_VAL_Rise;
struct
{
float SetSpeed;
float ActualSpeed;
float err;
float last_err;
float Kp,Ki,Kd;
float integral;
float Voltage;
float umax;
float umin;
}pid;
void pid_init(void)
{
pid.SetSpeed=30;
pid.ActualSpeed=0.0;
pid.err=0.0;
pid.last_err=0.0;
pid.Voltage=0.0;
pid.integral=0.0;
pid.Kd=4.1;
pid.Ki=3.3;
pid.Kp=15.3; //11.8
pid.umax=70;
pid.umin=10;
}
u16 value;
u8 N=1;
void pid_realize(void)
{
int index;
// pid.SetSpeed=speed;
pid.err =pid.SetSpeed-pid.ActualSpeed;
// if(pid.ActualSpeed==30)
// {
// N=0;
// }
// else{N=1;}
if(pid.ActualSpeed>pid.umax)
{
if(pid.err>40&&pid.err<20){index=0;}
else
{
index=1;
if(pid.err<0)
{
pid.integral+=pid.err;
}
}
}
else if(pid.ActualSpeed {
if(pid.err>40 && pid.err<20){index=0;} //abs(pid.err)>80
else
{
index=1;
if(pid.err>0)
{
pid.integral+=pid.err;
}
}
}
else
{
if(pid.err>40&&pid.err<20){index=0;}
else
{
index=1;
pid.integral+=pid.err;
}
}
pid.Voltage=pid.Kp*pid.err+index*pid.Ki*pid.integral+pid.Kd*(pid.last_err-pid.err);
// pid.last_err=pid.next_err;
pid.last_err=pid.err;
}
u8 touch_task(void)
{
tp_dev. scan(0);
if(tp_dev.sta&TP_PRES_DOWN) //触摸屏被按下
{
tp_dev. scan(0);
delay_ms(10);
if((tp_dev.x[0]>=20&&tp_dev.x[0]<=70)&&(tp_dev.y[0]<=240&&tp_dev.y[0]>=200))return 1;
if((tp_dev.x[0]>=90&&tp_dev.x[0]<=140)&&(tp_dev.y[0]<=240&&tp_dev.y[0]>=200))return 2;
if((tp_dev.x[0]>=160&&tp_dev.x[0]<=210)&&(tp_dev.y[0]<=240&&tp_dev.y[0]>=200))return 3;
if((tp_dev.x[0]>=20&&tp_dev.x[0]<=70)&&(tp_dev.y[0]<=300&&tp_dev.y[0]>=260))return 4;
if((tp_dev.x[0]>=90&&tp_dev.x[0]<=140)&&(tp_dev.y[0]<=300&&tp_dev.y[0]>=260))return 5;
if((tp_dev.x[0]>=160&&tp_dev.x[0]<=210)&&(tp_dev.y[0]<=300&&tp_dev.y[0]>=260))return 6;
}
delay_ms(10);
}
int main(void)
{
u8 key,pre;
float temp;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168); //初始化延时函数
uart_init(115200);//初始化串口波特率为115200
LCD_Init();
KEY_Init();
tp_dev.init();
TIM5_CH1_Cap_Init(100000,84-1);
TIM14_PWM_Init(1000-1,84-1); //84M/84=1Mhz的计数频率,重装载值500，所以PWM频率为 1M/500=2Khz.
pid_init();
LCD_ShowString(35,40,200,16,16,"Kp:");
LCD_ShowString(35,60,200,16,16,"Ki:");
LCD_ShowString(35,80,200,16,16,"Kd:");
LCD_ShowString(35,100,200,16,16,"set_speed:");
LCD_ShowString(35,120,200,16,16,"speed:");
LCD_ShowString(35,210,200,16,16,"Kd+");
LCD_ShowString(105,210,200,16,16,"Ki+");
LCD_ShowString(175,210,200,16,16,"Kp+");
LCD_ShowString(35,270,200,16,16,"Kd-");
LCD_ShowString(105,270,200,16,16,"Ki-");
LCD_ShowString(175,270,200,16,16,"Kp-");
LCD_ShowString(155,100,200,16,16,"r/s");
LCD_DrawRectangle(20,200,70,240);
LCD_DrawRectangle(90,200,140,240);
LCD_DrawRectangle(160,200,210,240);
LCD_DrawRectangle(20,260,70,300);
LCD_DrawRectangle(90,260,140,300);
LCD_DrawRectangle(160,260,210,300);
POINT_COLOR = RED;
LCD_PutString(40,10,"直流电机闭环调速系统",16);
POINT_COLOR = BLACK;
// delay_ms(2000);
while(1) //实现比较值从0-300递增，到300后从300-0递减，循环
{
pre=KEY_Scan(0);
switch(pre)
{
case 1:pid.SetSpeed+=1;break;
case 4:pid.SetSpeed-=1;break;
}
key=touch_task();
switch(key)
{
case 1:pid.Kp+=0.1f;break;
case 2:pid.Ki+=0.1f;break;
case 3:pid.Kd+=0.1f;break;
case 4:pid.Kp-=0.1f;break;
case 5:pid.Ki-=0.1f;break;
case 6:pid.Kd-=0.1f;break;
}
LCD_ShowFloatNum(75,40,pid.Kp,1,16,0x80);
LCD_ShowFloatNum(75,60,pid.Ki,1,16,0x80);
LCD_ShowFloatNum(75,80,pid.Kd,1,16,0x80);
LCD_ShowFloatNum(115,100,pid.SetSpeed,1,16,0x80);
if(flag==1||flag_1==1)
{
if(flag==1)
{
temp=(1000000)/(count*100000+TIM5CH1_CAPTURE_VAL_Rise);
if(temp<100)
{pid.ActualSpeed=temp;}
// if(temp<60)
// LCD_ShowNum(90,200,count,2,16);
// LCD_ShowNum(90,180,TIM5CH1_CAPTURE_VAL_Rise,6,16);
LCD_Fill(90,120,240,136,WHITE);
LCD_ShowFloatNum(90,120,(float)(1000000)/(count*100000+TIM5CH1_CAPTURE_VAL_Rise),2,16,0);
}
if(flag_1==1)
{
pid.ActualSpeed=0;
LCD_Fill(90,120,240,136,WHITE);
LCD_ShowFloatNum(90,120,(float)0,2,16,0);
}
pid_realize();
// LCD_ShowNum(40,140,count,4,16);
TIM5CH1_CAPTURE_VAL_Rise=0;
count=0;
flag=0;
flag_1=0;
if(N==0)
{
TIM_SetCompare1(TIM14,700+value);
}
else
{
TIM_SetCompare1(TIM14,700+pid.Voltage);
value=pid.Voltage;
}
}
}
}