PID算法控制PWM占空比 PID算法控制PWM占空比的代码
PID算法控制PWM占空比的代码
PID控制的算法代码C++,其中输出控制函数可以依据各自的项目需要进行改写。
#include<string.h>#include<stdio.h>typedef struct PID {double SetPoint; // 设定目标Desired valuedouble Proportion; // 比例常数Proportional Constdouble Integral; // 积分常数Integral Constdouble Derivative; // 微分常数Derivative Constdouble LastError; // Error[-1]double PrevError; // Error[-2]double SumError; // Sums of Errors} PID;/*====================================================================================================PID计算函数=====================================================================================================*/double PIDCalc( PID *pp, double NextPoint ){ double dError, Error; Error = pp->SetPoint - NextPoint; // 偏差 pp->SumError += Error; // 积分 dError = pp->LastError - pp->PrevError; // 当前微分 pp->PrevError = pp->LastError; pp->LastError = Error; return (pp->Proportion * Error // 比例项 + pp->Integral * pp->SumError // 积分项 + pp->Derivative * dError ); // 微分项}/*====================================================================================================PID结构体变量初始化函数=====================================================================================================*/void PIDInit (PID *pp){memset ( pp,0,sizeof(PID));}/*====================================================================================================读取输入变量函数（在此设定为固定值100）======================================================================================================*/double sensor (void) {return 100.0;}/*====================================================================================================输出变量控制函数======================================================================================================*/void actuator(double rDelta) {//用户自定义，可自行决定的}//主函数void main(void){ PID sPID; // PID Control Structure double rOut; // PID Response (Output) double rIn; // PID Feedback (Input) PIDInit ( &sPID ); // Initialize Structure sPID.Proportion = 0.5; // Set PID Coefficients sPID.Integral = 0.5; sPID.Derivative = 0.0; sPID.SetPoint = 100.0; // Set PID Setpoint for (;;) { // Mock Up of PID Processing rIn = sensor (); // 读取输入变量函数(Read Input ) rOut = PIDCalc ( &sPID,rIn ); // PID计算函数(Perform PID Interation) actuator ( rOut ); // 输出变量控制函数(Effect Needed Changes) }}PWM控制函数
//#############################################################ifndef EPWM_int_H#define EPWM_int_H#include "DSP2833x_Project.h"void EPWM3_int(void); //三对PWM初始化void HVDMC_Protection(void); //PWM的保护初始化void PWMDAC_int(void); // pwm做为RC滤波的DAC输出void Svpwm_Outpwm(void); // SVPWM调试波形输出void START_CAR(void); // 开始电机控制开PWMvoid STOP_CAR(void); // 停电机控制关PWMextern Uint16 PWM_HalfPerMax;#endif // end of EPWM_int_H definition//#############################################################include "Main_PMSM_QEncoder.h"#define ISR_FREQUENCY 12.5#define SYSTEM_FREQUENCY 150float32 T = 0.001/ISR_FREQUENCY;Uint16 PWM_PeriodMax=0, PWM_HalfPerMax=0 ,PWM_Deadband=0 ;void EPWM3_int(void){ PWM_PeriodMax=SYSTEM_FREQUENCY*1000000*T/2; PWM_HalfPerMax=PWM_PeriodMax/2; PWM_Deadband =2.0*SYSTEM_FREQUENCY; EALLOW; EPwm1Regs.TBCTL.bit.SYNCOSEL = 0; EPwm2Regs.TBCTL.bit.SYNCOSEL = 0; EPwm3Regs.TBCTL.bit.SYNCOSEL = 0; EPwm1Regs.TBCTL.bit.PHSEN = 1; EPwm2Regs.TBCTL.bit.PHSEN = 1; EPwm3Regs.TBCTL.bit.PHSEN = 1; EPwm1Regs.TBPRD = PWM_PeriodMax; // 6000 EPwm2Regs.TBPRD = PWM_PeriodMax; EPwm3Regs.TBPRD = PWM_PeriodMax; EPwm1Regs.TBPHS.half.TBPHS = 0; EPwm2Regs.TBPHS.half.TBPHS = 0; EPwm3Regs.TBPHS.half.TBPHS = 0; EPwm1Regs.TBCTL.all = 0xA00A; EPwm2Regs.TBCTL.all = 0xA00A; EPwm3Regs.TBCTL.all = 0xA00A; EPwm1Regs.CMPCTL.all = 0; EPwm2Regs.CMPCTL.all = 0; EPwm3Regs.CMPCTL.all = 0; EPwm1Regs.AQCTLA.all = 0x0090; EPwm2Regs.AQCTLA.all = 0x0090; EPwm3Regs.AQCTLA.all = 0x0090; EPwm1Regs.DBCTL.all = 0x000B; // 0x0003 EPwm2Regs.DBCTL.all = 0x000B; // 全一致 低电平 EPwm3Regs.DBCTL.all = 0x000B; EPwm1Regs.DBFED = PWM_Deadband; EPwm1Regs.DBRED = PWM_Deadband; EPwm2Regs.DBFED = PWM_Deadband; EPwm2Regs.DBRED = PWM_Deadband; EPwm3Regs.DBFED = PWM_Deadband; EPwm3Regs.DBRED = PWM_Deadband; EPwm1Regs.PCCTL.all = 0; EPwm2Regs.PCCTL.all = 0; EPwm3Regs.PCCTL.all = 0; EPwm1Regs.TZSEL.all = 0; EPwm2Regs.TZSEL.all = 0; EPwm3Regs.TZSEL.all = 0; EDIS; /* Disable EALLOW*/}// GPIO12引脚硬件过流触发保护引脚，硬件母线电流与电压比较低电平有效保护关闭6路PWMvoid HVDMC_Protection(void){ EALLOW; EPwm1Regs.TZSEL.bit.CBC6=0x1; EPwm2Regs.TZSEL.bit.CBC6=0x1; EPwm3Regs.TZSEL.bit.CBC6=0x1; EPwm1Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT EPwm2Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT EPwm3Regs.TZSEL.bit.OSHT1 = 1; //enable TZ1 for OSHT EPwm1Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low EPwm1Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low EPwm2Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low EPwm2Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low EPwm3Regs.TZCTL.bit.TZA = TZ_FORCE_LO; // EPWMxA will go low EPwm3Regs.TZCTL.bit.TZB = TZ_FORCE_LO; // EPWMxB will go low EDIS;//************************** End of Prot. Conf. ***************************//}void Svpwm_Outpwm(void){ // Tabc=0.5*Svpwmdq.Tabc+0.5 EPwm1Regs.CMPA.half.CMPA = _IQmpy(PWM_HalfPerMax,Svpwmdq.Ta)+ PWM_HalfPerMax; EPwm2Regs.CMPA.half.CMPA = _IQmpy(PWM_HalfPerMax,Svpwmdq.Tb)+ PWM_HalfPerMax; EPwm3Regs.CMPA.half.CMPA = _IQmpy(PWM_HalfPerMax,Svpwmdq.Tc)+ PWM_HalfPerMax;}void STOP_CAR(void) // 上下桥臂 全为低{EALLOW; EPwm1Regs.DBCTL.bit.POLSEL = 0; EPwm2Regs.DBCTL.bit.POLSEL = 0; EPwm3Regs.DBCTL.bit.POLSEL = 0; EPwm1Regs.AQCSFRC.all = 0x05; EPwm2Regs.AQCSFRC.all = 0x05; EPwm3Regs.AQCSFRC.all = 0x05; EDIS;}void START_CAR(void) // 上下桥臂 对称互补{EALLOW; EPwm1Regs.DBCTL.bit.POLSEL = 2; EPwm2Regs.DBCTL.bit.POLSEL = 2; EPwm3Regs.DBCTL.bit.POLSEL = 2; EPwm1Regs.AQCSFRC.all = 0x00; EPwm2Regs.AQCSFRC.all = 0x00; EPwm3Regs.AQCSFRC.all = 0x00;EDIS;}// EPWM6在除正交编码器的永磁同步电机FOC控制中运用 将数字量转换模拟量可以在示波器上显示变化规律// 其他程序代码做用PWM输出数字量通过RC电阻低通滤波后就可以测到数据波形，例如马鞍矢量波// https://blog.csdn.net/qq_27334499/article/details/52186336void PWMDAC_int(void) // PWMDAC{ EALLOW; EPwm6Regs.TBCTL.bit.SYNCOSEL = 0; EPwm6Regs.TBCTL.bit.PHSEN = 1; EPwm6Regs.TBPRD =4000; EPwm6Regs.TBPHS.half.TBPHS = 0; EPwm6Regs.TBCTL.all = 0xA00A; EPwm6Regs.CMPCTL.all = 0x0000; EPwm6Regs.AQCTLA.all = 0x0090; EPwm6Regs.AQCTLB.all = 0x0900; EPwm6Regs.DBCTL.all = 0x0000; EPwm6Regs.PCCTL.all = 0x0000; EPwm6Regs.TZSEL.all = 0x0000; EPwm6Regs.TZCTL.all = 0x0000; EDIS;}//===========================================================================// No more.//===========================================================================