倒立摆程序
/*倒立摆的调节上摆函数未成功：main函数的124行*/#include "led.h"#include "delay.h"#include "sys.h"#include "key.h"#include "usart.h"#include "wdg.h"#include "timer.h"#include "pwm.h"#include "lcd.h"#include "adc.h"//#include "moto.h"//#include "pid. h"// #include "spi.h"// #include "flash.h"// #include "text.h"// #include "fontupd.h"extern volatile int AD[3]; //AD采集到的值u8 start=1;//u8 PID_flag;u8 flag=0;//u16 tmp;struct PID { int SetPoint; //设定目标 Desired Value int Proportion;//比例常数 Proportional Const int Integral; //积分常数 Integral Const int Derivative;//微分常数 Derivative Const int LastError; //上次误差Error[-1] int PrevError; //当前误差Error[-2] int SumError; //历史误差累计值Sums of Errors }; struct PID spid; //PID Control Structure int rout; //输出PID Response (Output) int rin; //反馈PID Feedback (Input) //PID核心算法(位置式)int PIDCalc( struct PID *pp, unsigned int NextPoint ) { int dError,Error;//定义微分偏差和偏差Error = pp->SetPoint - NextPoint;//偏差=设定值-当前采样值pp->PrevError = pp->LastError;//保存，将最终误差赋值给前一个误差 pp->LastError = Error;//将当前偏差赋值给上次误差 pp->SumError = Error; //积分，历史偏差累加 dError = pp->LastError - pp->PrevError;//当前微分，历史偏差相减//返回PID参数，输出控制参数return (pp->Proportion * Error//比例项 pp->Integral * pp->SumError//积分项 pp->Derivative * dError);// 微分项 } //初始化PID各参数 void PIDInit (struct PID *pp) { //（24,21）（24,20）（16,20动态模型）（12,24,380动态）（24,20,276）pp->SetPoint=2022; //设定中心角度（±180°）为512（ADC）pp->Proportion=14; //设定PID比例常数 23pp->Integral=3; //设定PID积分常数pp->Derivative=46; //设定PID微分常数pp->LastError=0; //设定PID最终误差Error[-1]pp->PrevError=0; //设定PID前一个误差Error[-2] pp->SumError=0; //设定历史误差累计值Sums of Errors }void Speed_Adjust(uint16_t v,uint16_t t,uint8_t Direction)//调速(最大速度，时间，方向){uint16_t i=0;switch(Direction){case 0:TIM_SetCompare2(TIM3,0);//启动加速TIM_SetCompare1(TIM3,8000); break;case 1:TIM_SetCompare1(TIM3,0); TIM_SetCompare2(TIM3,8000);break;default: break;}}void Rock(){if((AD[0]>=1822)&&(AD[0]<=2222)) //PID调节范围{rin=AD[0];//PID输入参数,ADC 的值rout=PIDCalc(&spid,rin);if(rout>0){ TIM_SetCompare1(TIM3,0);TIM_SetCompare2(TIM3,rout 900);} else if(rout<0) { rout=-rout;TIM_SetCompare2(TIM3,0);TIM_SetCompare1(TIM3,rout 900);}}else{ TIM_SetCompare2(TIM3,0); TIM_SetCompare1(TIM3,0); // start=1;delay_ms(1000);delay_ms(1000);delay_ms(1000);delay_ms(1000);delay_ms(1000); }////////////////////////////////////////////////////////////////////////while((AD[0]>1728)&&(AD[0]<=1828))//上半圆不控制{TIM_SetCompare1(TIM3,0);TIM_SetCompare2(TIM3,900);}while((AD[0]<2338)&&(AD[0]>2238)){TIM_SetCompare2(TIM3,0);TIM_SetCompare1(TIM3,900);}////////////////////////////////////////////////////////////////////////if(start==1) //调节上摆程序 {// Speed_Adjust(5000,50,0);//调速(速度，时间，方向) // delay_ms(1000);delay_ms(1000);delay_ms(1000); start=0; }} int main(void) {SystemInit();delay_init(72); //延时初始化NVIC_Configuration(); uart_init(9600); LED_Init(); KEY_Init();LCD_Init();Adc_Init();POINT_COLOR=RED; PWM_Init(10000,0); //不分频。PWM频率20KHzPIDInit (&spid);//初始化PID算法Timerx_Init(100,7199);//10Khz的计数频率，计数到100 10msPOINT_COLOR=RED; LCD_ShowStr(120-7*8,50,0,7);//显示古诗《赋得古原草送别》POINT_COLOR=BLUE;LCD_ShowStr(120-3*8,50 16,55,58);//显示诗人：白居易POINT_COLOR=BLACK;LCD_ShowStr(32,50 32,8,55);//显示内容POINT_COLOR =RED;LCD_ShowString(0,0,"ADC:"); //显示一个字符串,16字体 while(1){ LCD_ShowNum(32,0,AD[0],4,16);//显示ADC的值 Rock(); // LCD_LED=0;//lcd背光关闭 }}
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