基于stm32的PID直流電機速度控制

ID:83183 · 發表于 2016-6-25 16:58

利用STM32控制直流電機正反轉及轉速，通過labview發送指令給STM32控制電機的正反轉及轉速，并將電機的轉速實時顯示在波形圖中

實驗器材:
MiniSTM32F103開發板V3版本

實驗目的:
本實驗為新建工程實驗，僅供大家新建工程時參考。
新建工程詳細步驟，請看《STM32不完全手冊-庫函數版本》第3.3節。

實驗現象:
本實驗下載后，B0,B1交替閃爍

注意事項:
無.
部分程序預覽：

#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碼
u8 key,t;
u8 KEY_TEMP;
char buffer[4]; //浮點轉字符數組
delay_init(); //延時函數初始化
KEY_Init(); //初始化與按鍵連接的硬件接口
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 設置中斷優先級分組2
uart_init(9600); //串口初始化為9600
MOTER_Init(); //初始化與電機連接的硬件接口
TIM1_PWM_Init(899,0);//不分頻。PWM頻率=72000/(899+1)=80Khz
LCD_Init();
//usmart_dev.init(72); //usmart初始化
mem_init(); //初始化內存池
exfuns_init(); //為fatfs相關變量申請內存
f_mount(fs[0],"0:",1); //掛載SD卡
f_mount(fs[1],"1:",1); //掛載FLASH.
font_init();
TIM3_Int_Init(99,7199);//10Khz的計數頻率，計數到5000為500ms
Encoder_Init_TIM2(); //初始化編碼器1
AIN0=1;AIN1=0;
/***************PI 參數**********************/
Kp=1.2;
Ki=0.0011;
Kd=6;
Encoder_set=0;
USART_RX_BUF[0]='a';
while(1)
{
KEY_TEMP=KEY_Scan(0); //得到鍵值
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的電機速度控制",24,0);
POINT_COLOR=BLACK;
Show_Str(1,70,200,16,"電機速度",16,0); LCD_ShowxNum(130 ,70,LABview_moter,5,16,0); Show_Str(180,70,200,16,"轉/分",16,0);
sprintf(buffer, "%10.2f", LABview_wheel);
Show_Str(1,90,200,16,"輪子速度",16,0);LCD_ShowString(90,90,200,16,16,buffer);Show_Str(180,90,200,16,"轉/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,"電機狀態",16,0);
if( (USART_RX_BUF[0]-'a')==0 ){
Show_Str(150,130,200,16,"正轉",16,0);}
else{
Show_Str(150,130,200,16,"反轉",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 張馮",16,0);
Show_Str(50,250,200,16,"1304105023 陸煬",16,0);
Show_Str(50,270,200,16,"1304105024 沈磊",16,0);
delay_ms(10);
printf("%f", LABview_wheel);
printf("\r\n");//插入換行
}
}