基于步进电机自平衡小车

sunnyczh1 · 发表于 2015-11-30 18:44:06

void pid(float angle, float angle_dot)
{
u32 temp;
u16 sl, sr;

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

now_error = set_point - angle;

speed_filter();

speed *= 0.7;
speed += speed_out * 0.3;
position += speed;
position -= speed_need;

if(position<-60000) position = -60000;
if(position> 60000) position = 60000;

rout = proportion * now_error + derivative * angle_dot - position * integral2 - derivative2 * speed;//什么意思

speed_l = -rout + turn_need_l;
speed_r = -rout + turn_need_r;

if(speed_l > MAX_SPEED)
{
speed_l = MAX_SPEED;
}
else if(speed_l < -MAX_SPEED)
{
speed_l = -MAX_SPEED;
}

if(speed_r > MAX_SPEED)
{
speed_r = MAX_SPEED;
}
else if(speed_r < -MAX_SPEED)
{
speed_r = -MAX_SPEED;
}

if(speed_l > 0)
{
GPIO_ResetBits(GPIOB, GPIO_Pin_8); //left fr
sl = speed_l;
}
else
{
GPIO_SetBits(GPIOB, GPIO_Pin_8);
sl = speed_l * (-1);
}

if(speed_r > 0)
{
GPIO_SetBits(GPIOA, GPIO_Pin_3); //right fr
sr = speed_r;
}
else
{
GPIO_ResetBits(GPIOA, GPIO_Pin_3);
sr = speed_r * (-1);
}

temp = 1000000 / sl;
if(temp > 65535)
{
sl = 65535;
}
else
{
sl = (u16)temp;
}

temp = 1000000 / sr;
if(temp > 65535)
{
sr = 65535;
}
else
{
sr = (u16)temp;
}

/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = sl - 1; // (Period + 1) * (Prescaler + 1) / 72M = 1ms
TIM_TimeBaseStructure.TIM_Prescaler = 30 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = sl >> 1;

TIM_OC4Init(TIM4, &TIM_OCInitStructure); //PB9 left

/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = sr - 1;
TIM_TimeBaseStructure.TIM_Prescaler = 30 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = sr >> 1;

TIM_OC3Init(TIM2, &TIM_OCInitStructure); //PA2 right
}
这里的pid是什么意思，怎么跟正常的不一样。
我看的是kp*e+ki*e+kd*e