STM32控制无刷直流电机BLDC速度环PID源码 -

/*====================================================================================================
增量式PID
The PID (比例、积分、微分) function is used in mainly
control applications. PIDCalc performs one iteration of the PID
algorithm.
While the PID function works, main is just a dummy program showing
a typical usage.
=====================================================================================================*/
#define Set_Point 1000 //100 10000
#define PWM_Max 1400
#define PWM_Min 50
typedef struct PID
{
int Target; //设定目标 Desired Value
int Uk; //Uk
int Udk; //Udk增量
int Uk_1; //Uk-1
double P; //比例常数 Proportional Const
double I; //积分常数 Integral Const
int b;
double D; //微分常数 Derivative Const
int ek_0; //ek
int ek_1; //ek-1
int ek_2; //ek-2
}PID;
static PID Speed_PID;
static PID *Speed_Point = &Speed_PID;
/*====================================================================================================
Initialize PID Structure PID参数初始化
=====================================================================================================*/
void Speed_PIDInit(void)
{
Speed_Point->Target = Set_Point;
Speed_Point->Uk = 0;
Speed_Point->Udk = 0;
Speed_Point->Uk_1 = PWM_Min;
Speed_Point->ek_0 = 0; //ek=0
Speed_Point->ek_1 = 0; //ek-1=0
Speed_Point->ek_2 = 0; //ek-2=0
Speed_Point->P = 4; //比例常数 Proportional Const
Speed_Point->I = 0.084; //积分常数Integral Const
Speed_Point->b = 1;
Speed_Point->D = 1.8; //微分常数 Derivative Const
}
/*====================================================================================================
增量式PID计算部分
=====================================================================================================*/
int Speed_PIDAdjust(int Next_Point)
{
Speed_Point->ek_0= Speed_Point->Target - Next_Point; //增量计算
/*遇限削弱积分即控制量Uk进入饱和区，便停止进行增大的积分项运算，而只进行使积分减少的运算*/
if(((Speed_Point->Uk_1>=PWM_Max)&&(Speed_Point->ek_0>=0))||((Speed_Point->Uk_1<=PWM_Min)&&(Speed_Point->ek_0<=0)))
{
Speed_Point->b=0;
}
else
{
Speed_Point->b=1;
}
Speed_Point->Udk=Speed_Point->P*(Speed_Point->ek_0-Speed_Point->ek_1) + Speed_Point->b*Speed_Point->I*Speed_Point->ek_0
+ Speed_Point->D*(Speed_Point->ek_0-2*Speed_Point->ek_1+Speed_Point->ek_2);
/* 存储误差，用于下次计算 */
Speed_Point->Uk = Speed_Point->Uk_1 + Speed_Point->Udk;
Speed_Point->ek_2 = Speed_Point->ek_1;
Speed_Point->ek_1 = Speed_Point->ek_0;
Speed_Point->Uk_1 = Speed_Point->Uk;
if(Speed_Point->Uk >= PWM_Max)
{
return PWM_Max;
}
else if(Speed_Point->Uk <= PWM_Min)
{
return PWM_Min;
}
return(Speed_Point->Uk);
}

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#include "includes.h"
/********************CoOS变量**********************/
#define TASK_STK_SIZE 128
#define TASK0_PRIO 2
#define TASK1_PRIO 3
OS_STK STK_TASK0[TASK_STK_SIZE];
OS_STK STK_TASK1[TASK_STK_SIZE];
void TASK0(void *param);
void TASK1(void *param);
/*************************************************/
/*********************一般变量********************/
extern uint32_t Speed_count;
uint8_t USART_Flag = 0;
/*************************************************/
int main(void)
{
/* 片内外设初始化 */
Periph_Init();
/* 操作系统初始化 */
CoInitOS();
CoCreateTask( TASK0, (void*)0, TASK0_PRIO, &STK_TASK0[TASK_STK_SIZE - 1], TASK_STK_SIZE);
CoCreateTask( TASK1, (void*)0, TASK1_PRIO, &STK_TASK1[TASK_STK_SIZE - 1], TASK_STK_SIZE);
CoStartOS();
while(1);
}
void TASK0(void *param)
{
uint16_t data;
KEY_Init();
Speed_PIDInit();
for(;;)
{
if(KEY_Read(KEY1))
{
CoTickDelay(5);
if(KEY_Read(KEY1))
{
BLDC_Start();
}
}
if(KEY_Read(KEY2))
{
CoTickDelay(5);
if(KEY_Read(KEY2))
{
BLDC_Stop();
}
}
if(USART_Flag)
{
data = 1000000/(6*Speed_count);
USART_SendData( USART2, data);
USART_Flag = 0;
}
CoTickDelay(5);
}
}
void TASK1(void *param)
{
for(;;)
{
LED_On();
CoTickDelay(200);
LED_Off();
CoTickDelay(200);
}
}

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