概述
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 value
double Proportion; // 比例常数Proportional Const
double Integral; // 积分常数Integral Const
double Derivative; // 微分常数Derivative Const
double 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PWM
void STOP_CAR(void); // 停电机控制关PWM
extern Uint16 PWM_HalfPerMax;
#endif // end of EPWM_int_H definition
//############################################################
#include "Main_PMSM_QEncoder.h"
#define ISR_FREQUENCY 12.5
#define SYSTEM_FREQUENCY 150
float32 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PWM
void 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/52186336
void 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.
//===========================================================================
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