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#define Max_Cycle 290//限制幅度
#define Min_Cycle -290
typedef struct//結(jié)構(gòu)體
{
int targetValue;//設(shè)定值
int Error;//誤差
int prevError;//上次誤差
int Integral;//誤差積分
float Kp;//比例系數(shù)
float Ki;//沒用
float Kd;//微分系數(shù)
}PID;
int Calc_PID(PID *pid,int Pos)//位置PID
{
int output;
int Differential;//微分變量
pid->Error = (pid->targetValue - Pos); // 誤差有正負(fù)
pid->Integral += pid->Error; // 誤差累計(jì)
Differential = pid->Error - pid->prevError; // 微分部分本次誤差減去上次誤差
output = (pid->Kp * pid->Error + pid->Integral * pid->Ki + pid->Kd * Differential);//通過比例積分微分參數(shù)算出輸出控制量可省略積分部分
pid->prevError = pid->Error; // 本次誤差賦值為上次
if(output>Max_Cycle) // 超過上限則輸出恒定值
output = Max_Cycle;
if(output<Min_Cycle)
output = Min_Cycle;
return output;
}
void Init_PID_Parameter(void)
{
xPID.targetValue = 2300; //
yPID.targetValue = 2300;
xPID.Error = 0;
yPID.Error = 0;
xPID.prevError=0;
yPID.prevError=0;
xPID.Ki = 0.0f;
yPID.Ki = 0.0f;
xPID.Kp = 0.3f;
yPID.Kp = 0.3f;
xPID.Kd = 0.60f;
yPID.Kd = 0.60f;
}

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void TIM3_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* 設(shè)置TIM3CLK 為 72MHZ */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* GPIOA and GPIOB clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE );
/*GPIOA Configuration: TIM3 channel 1 and 2 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 復(fù)用推挽輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*GPIOB Configuration: TIM3 channel 3 and 4 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
void TIM3_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* PWM信號電平跳變值 */
/* u16 CCR1_Val ;
u16 CCR2_Val ;
CCR1_Val=CCR1_value;
CCR2_Val=CCR2_value;
*/
//周期為12K 72M/ARR+1/PSC+1
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period =299; //當(dāng)定時器從0計(jì)數(shù)到299，即為300次，為一個定時周期
TIM_TimeBaseStructure.TIM_Prescaler = 11; //設(shè)置預(yù)分頻：不預(yù)分頻，即為72MHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //設(shè)置時鐘分頻系數(shù)：不分頻(這里用不到)
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上計(jì)數(shù)模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //配置為PWM模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //當(dāng)定時器計(jì)數(shù)值小于CCR1_Val時為高電平
TIM_OCInitStructure.TIM_Pulse = 10; //設(shè)置跳變值，當(dāng)計(jì)數(shù)器計(jì)數(shù)到這個值時，電平發(fā)生跳變可不設(shè)置
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //使能通道1
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 10; //設(shè)置通道2的電平跳變值，輸出另外一個占空比的PWM
TIM_OC2Init(TIM3, &TIM_OCInitStructure); //使能通道2
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
/*TIM3的通道3*/
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 10; //設(shè)置通道2的電平跳變值，輸出另外一個占空比的PWM
TIM_OC3Init(TIM3, &TIM_OCInitStructure); //使能通道2
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
/*TIM 通道 4*/
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 10; //設(shè)置通道2的電平跳變值，輸出另外一個占空比的PWM
TIM_OC4Init(TIM3, &TIM_OCInitStructure); //使能通道2
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE); //使能定時器3
}
/**
* 初始化
*/
void TIM3_PWM_Init(void)
{
TIM3_GPIO_Config();
TIM3_Mode_Config();
}</div><div>//pwm輸出處理函數(shù)</div><div>
void TIM3_OutSequence1zhuoyou(int Shuzhi){
if(Shuzhi>0){
TIM_SetCompare1(TIM3,0);
TIM_SetCompare2(TIM3,Shuzhi);
}
else {
TIM_SetCompare1(TIM3,Shuzhi*(-1));
TIM_SetCompare2(TIM3,0);
}
}
void TIM3_OutSequence1shangxia(int Shuzhi){
if(Shuzhi>0){
TIM_SetCompare3(TIM3,0);
TIM_SetCompare4(TIM3,Shuzhi);
}
else {
TIM_SetCompare3(TIM3,Shuzhi*(-1));
TIM_SetCompare4(TIM3,0);
}
}

復(fù)制代碼