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<Main.c>
#include "stm32f10x.h"
#include "delay.h"
#include "exti.h"
#include "lcd.h"
#include "text.h"
#include <DCMotor_PWM.h>
#include <PID_Controller.h>
float WishSpeedMax=360;
float WishSpeedMin=0;
float WishSpeed;
extern float U_Out[2];
u8 WishSpeedChar[11];
u8 RealSpeedChar[11];
int main(void)
{
SystemInit();
delay_init(72);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
EXTI_Config();
PID_ParameterReckon();
Tim3_Init();
DCMotor_Init();
DCMotor_Out(U_Out[0]);
WishSpeed=200;
POINT_COLOR=BLUE;
BACK_COLOR=WHITE;
LCD_Init();
LCD_Clear(WHITE);
LCD_ShowString(30,50,"Wished Speed",POINT_COLOR);
WishSpeedLCDShow();
LCD_ShowString(30,90,"Real Speed",POINT_COLOR);
while(1)
{
Add_PID_Control();
}
}
PID_Controller.c
#include <PID_Controller.h>
#include <DCMotor_PWM.h>
extern float WishSpeed;
extern float RealSpeed;
float U_OutMAX=1000;//Õ¼¿Õ±È100%
float U_OutMIN=0;
float Kp;
float Ki;
float Kd;
float Error[3];
float U_Out[2];
float U_Add;
void PID_ParameterReckon(void)
{
Kp=5;
Ki=0.00105;
Kd=0;
U_Out[0]=0.0;
Error[2]=0.0;
Error[1]=0.0;
Error[0]=0.0;
}
void Add_PID_Control(void)
{
Error[2]=WishSpeed-RealSpeed;
if((Error[2]>(-0.05*WishSpeed))&&((Error[2]<(0.05*WishSpeed))))
{
Error[2]=0;
}
U_Add=Kp*(Error[2]-Error[1])+Ki*Error[2]+Kd*(Error[2]-2*Error[1]+Error[0]);
U_Out[1]=U_Add+U_Out[0];
if(U_Out[1]>U_OutMAX)
U_Out[1]=U_OutMAX;
if(U_Out[1]<U_OutMIN)
U_Out[1]=U_OutMIN;
DCMotor_Out(((int16_t)(U_Out[1])));
U_Out[0]=U_Out[1];
Error[0]=Error[1];
Error[1]=Error[2];
}
Dcmotor_PWM.c
#include <DCMotor_PWM.h>
#include "delay.h"
extern float U_Out[2];
int InPWM_HzNew;
int InPWM_HzOld;
int16_t OutPWM;
static void Tim2_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructure.TIM_Period=1000-1;
TIM_TimeBaseStructure.TIM_Prescaler=4-1;
TIM_TimeBaseStructure.TIM_ClockDivision=0;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse=0;
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
TIM_OC4Init(TIM2,&TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM2,TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM2,ENABLE);
TIM_Cmd(TIM2,ENABLE);
}
static void Tim5_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPD;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_ResetBits(GPIOA,GPIO_Pin_0);
TIM_TimeBaseStructure.TIM_Period=65536-1;
TIM_TimeBaseStructure.TIM_Prescaler=72-1;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM5,&TIM_TimeBaseStructure);
TIM_ICInitStructure.TIM_Channel=TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity=TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection=TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler=TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter=0;
TIM_ICInit(TIM5,&TIM_ICInitStructure);
NVIC_InitStructure.NVIC_IRQChannel=TIM5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM5,TIM_IT_CC2,ENABLE);
TIM_Cmd(TIM5,ENABLE);
}
void Tim3_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_TimeBaseStructure.TIM_Period=10000-1;
TIM_TimeBaseStructure.TIM_Prescaler=72-1;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);
TIM_Cmd(TIM3,ENABLE);
}
void DCMotor_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
Tim2_Init();
Tim5_Init();
}
void DCMotor_Out(int16_t duty)
{
if(duty>1000) duty=1000;
if(duty<0) duty=0;
TIM2->CCR4 = duty;
}

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