基于stm32的PID直流电机速度控制

ID:83183 · 发表于 2016-6-25 16:58

利用STM32控制直流电机正反转及转速，通过labview发送指令给STM32控制电机的正反转及转速，并将电机的转速实时显示在波形图中

实验器材:
MiniSTM32F103开发板V3版本

实验目的:
本实验为新建工程实验，仅供大家新建工程时参考。
新建工程详细步骤，请看《STM32不完全手册-库函数版本》第3.3节。

实验现象:
本实验下载后，B0,B1交替闪烁

注意事项:
无.
部分程序预览：

#include "moter.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "lcd.h"
#include "pwm.h"
#include "key.h"
#include "timer.h"
#include "encoder.h"
#include "control.h"
//#include "usmart.h"
#include "malloc.h"
#include "MMC_SD.h"
#include "ff.h"
#include "exfuns.h"
#include "fontupd.h"
#include "text.h"
int main(void)
{
u32 fontcnt;
u8 i,j;
u8 fontx[2];//gbk码
u8 key,t;
u8 KEY_TEMP;
char buffer[4]; //浮点转字符数组
delay_init(); //延时函数初始化
KEY_Init(); //初始化与按键连接的硬件接口
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 设置中断优先级分组2
uart_init(9600); //串口初始化为9600
MOTER_Init(); //初始化与电机连接的硬件接口
TIM1_PWM_Init(899,0);//不分频。PWM频率=72000/(899+1)=80Khz
LCD_Init();
//usmart_dev.init(72); //usmart初始化
mem_init(); //初始化内存池
exfuns_init(); //为fatfs相关变量申请内存
f_mount(fs[0],"0:",1); //挂载SD卡
f_mount(fs[1],"1:",1); //挂载FLASH.
font_init();
TIM3_Int_Init(99,7199);//10Khz的计数频率，计数到5000为500ms
Encoder_Init_TIM2(); //初始化编码器1
AIN0=1;AIN1=0;
/***************PI 参数**********************/
Kp=1.2;
Ki=0.0011;
Kd=6;
Encoder_set=0;
USART_RX_BUF[0]='a';
while(1)
{
KEY_TEMP=KEY_Scan(0); //得到键值
switch(KEY_TEMP)
{
case KEY0_PRES:
Encoder_set+=1; break;
case KEY1_PRES:
Encoder_set-=1; if(Encoder_set=0)Encoder_set=0; break;
default:break;
}
if(USART_RX_STA&0x8000)
{
USART_RX_STA=0;
// Encoder_set=(USART_RX_BUF[1]-'0')*100+(USART_RX_BUF[2]-'0')*10+(USART_RX_BUF[3]-'0');
Encoder_Err_Sum=0;//OutPwm=0;
if(USART_RX_BUF[0]=='a') {AIN0=1;AIN1=0;Encoder_set=(USART_RX_BUF[1]-'0')*100+(USART_RX_BUF[2]-'0')*10+(USART_RX_BUF[3]-'0');}
if(USART_RX_BUF[0]=='b') {AIN0=0;AIN1=1;Encoder_set=(USART_RX_BUF[1]-'0')*100+(USART_RX_BUF[2]-'0')*10+(USART_RX_BUF[3]-'0');}
}
POINT_COLOR=BLUE;
Show_Str(0,30,240,24,"基于PI的电机速度控制",24,0);
POINT_COLOR=BLACK;
Show_Str(1,70,200,16,"电机速度",16,0); LCD_ShowxNum(130 ,70,LABview_moter,5,16,0); Show_Str(180,70,200,16,"转/分",16,0);
sprintf(buffer, "%10.2f", LABview_wheel);
Show_Str(1,90,200,16,"轮子速度",16,0);LCD_ShowString(90,90,200,16,16,buffer);Show_Str(180,90,200,16,"转/分",16,0);
sprintf(buffer, "%10.2f", pwm_precent);
Show_Str(1,110,200,16,"PWM百分比",16,0);
POINT_COLOR=BLACK;
if(pwm_precent<=20)POINT_COLOR=BLUE;
if(pwm_precent>=80)POINT_COLOR=RED;
LCD_ShowString(90,110,200,16,16,buffer);
POINT_COLOR=BLACK;
Show_Str(190,110,200,16,"%",16,0);
Show_Str(1,130,200,16,"电机状态",16,0);
if( (USART_RX_BUF[0]-'a')==0 ){
Show_Str(150,130,200,16,"正转",16,0);}
else{
Show_Str(150,130,200,16,"反转",16,0);}
//LCD_ShowxNum(180,170,Encoder_moter,5,16,0);
POINT_COLOR=RED;
Show_Str(50,210,200,16,"1304105022 方立超",16,0);
Show_Str(50,230,200,16,"1304105025 张冯",16,0);
Show_Str(50,250,200,16,"1304105023 陆炀",16,0);
Show_Str(50,270,200,16,"1304105024 沈磊",16,0);
delay_ms(10);
printf("%f", LABview_wheel);
printf("\r\n");//插入换行
}
}