STM32控制编码器电机实现【速度闭环控制】与【位置闭环控制】

1、 STM32控制编码器电机实现【速度闭环控制】与【位置闭环控制】、硬件及接线说明本实验所基于的硬件分别为：STM32F103C8T6 主控板TB6612FNG 直流电机驱动模块6线正交编码器电机（带AB相）其中硬件接线为：PWMA PA8AIN1 PB14AIN2 PB15STBY 5V编码器A相 PA1编码器B相 PA0STM32定时器资源分配：定时器1（TIM1）：产PWM波，作为TB6612的输，控制电机进调速；定时器2（TIM2）：读取编码器的波形；定时器3（TIM3）：产周期为10ms的定时器中断，为控制系统提供稳定的时间基准。【说明】上述硬件平台和接线仅给读者提供参考，更换主控或接

2、线式，请对例程序进微调。本对于编码器的作原理不加赘述，对于其原理请读者查阅相关资料。、速度闭环控制程序逻辑【说明】下述程序中 control.c 最为重要，包含了速度闭环控制器的详细代码。其他程序模块供读者初始化参考。main.c （主函数）12u8 flag_Stop=1; /停标志位/编码器的脉冲计数/电机PWM变量34567/=延时初始化8LED_Init();/=初始化与LED 连接的硬件接/=初始化串19101112131415161718/初始化控制电机所需的IO/初始化pwm输出/初始化计数器（定时器）TIM3_Int_Init (99,7199); /10ms次中断printf

3、(Encoder:%d rn,Encoder);moto.c （电机初始化相关函数） 12void MOTO_Init(void)/初始化控制电机所需的IO3GPIO_InitTypeDef GPIO_InitStruct ;4RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);/PORTB12 13 14 15推挽输出56789101112131415161718192021222324252627282930313233343536373839404142434445void pwm_Init(u16 arr,u16 psc) /初始化p

4、wm输出引脚RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE); /使能定时器1时钟RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); /使能GPIOA的时钟TIM_TimeBaseInitStruct .TIM_Period = arr;TIM_TimeBaseInitStruct .TIM_Prescaler = psc;TIM_TimeBaseInitStruct .TIM_CounterMode = TIM_CounterMode_Up ; /TIM向上计数模式TIM_OCInitS

5、truct.TIM_OCMode = TIM_OCMode_PWM2 ;/选择PWM2模式TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable ; /较输出使能TIM_OCInitStruct.TIM_Pulse = 0;/设置待装捕获较寄存器的脉冲值TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;TIM_OC1Init(TIM1,&TIM_OCInitStruct);/初始化输出较参数TIM_OC1PreloadConfig (TIM1,TIM_OCPreload_Ena

6、ble ); /CH1使能预装载寄存器TIM_CtrlPWMOutputs(TIM1,ENABLE);TIM_ARRPreloadConfig(TIM1, ENABLE);TIM_Cmd(TIM1,ENABLE);/级定时器输出必须设置这句/使能TIM1在ARR上的预装载寄存器/使能定时器1encoder.c （编码器初始化函数） 12/*函数功能：把TIM2初始化为编码器接模式参数：34返回 值：56void Encoder_Init_TIM2 (void)78910111213141516171819202122232425262728293031323334353637383940414

7、2434445464748GPIO_InitTypeDef GPIO_InitStructure ;RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);/使能定时器2的时钟RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);/使 能PA端时钟GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; /端配置GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING ; /浮空输/根据设定参数初始化

8、GPIOBTIM_TimeBaseStructure .TIM_Period = ENCODER_TIM_PERIOD-1; /设定计数器动重装值TIM_TimeBaseStructure .TIM_ClockDivision = TIM_CKD_DIV1;/选择时钟分频：不分频TIM_TimeBaseStructure .TIM_CounterMode = TIM_CounterMode_CenterAligned1 ;TIM向上计数TIM_TimeBaseInit (TIM2, &TIM_TimeBaseStructure );TIM_EncoderInterfaceConfig (TIM

9、2, TIM_EncoderMode_TI12 , TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);/使编码器模式3TIM_ICStructInit(&TIM_ICInitStructure ); /把TIM_ICInitStruct 中的每个参数按缺省值填TIM_ICInitStructure .TIM_ICFilter = 10; /设置滤波器长度TIM_ICInit(TIM2, &TIM_ICInitStructure ); /根据 TIM_ICInitStruct 的参数初始化外设TIMxTIM_ClearFlag (TIM2, TIM_FL

10、AG_Update );/清除TIM的更新标志位TIM_ITConfig(TIM2, TIM_IT_Update , ENABLE);/使能定时器中断TIM_SetCounter (TIM2,0);/设 置TIMx 计数器寄存器值TIM_Cmd(TIM2, ENABLE); /使能定时器2/中断处理函数为空，清除中断标志位后结束中断void TIM2_IRQHandler (void)if(TIM_GetFlagStatus (TIM2,TIM_FLAG_Update )=SET)/溢出中断TIM_ClearITPendingBit (TIM2,TIM_IT_Update ); /清除中断标志

11、位/*函数功能：单位时间读取编码器计数49 参数：定时器返回 值：速度值50*/515253int Encoder_TIM;54switch(TIMX)55565758596061626364 timer.c （定时器中断初始化函数）123456789101112131415161718192021222324252627TIM_TimeBaseInitStruct .TIM_Period = arr; /重装载值TIM_TimeBaseInitStruct .TIM_Prescaler = psc; /预分频系数TIM_TimeBaseInitStruct .TIM_ClockDivisio

12、n =0; /时钟分割TIM_TimeBaseInitStruct .TIM_CounterMode = TIM_CounterMode_Up ; /TIM向上计数模式TIM_TimeBaseInit (TIM3,&TIM_TimeBaseInitStruct );TIM_ITConfig(TIM3,TIM_IT_Update ,ENABLE); /使能定时器中断NVIC_InitStruct.NVIC_IRQChannel = TIM3_IRQn; /使能外部中断通道NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE; /使能外部中断通道NVIC_Init

13、Struct.NVIC_IRQChannelPreemptionPriority = 1; /抢占优先级1NVIC_InitStruct.NVIC_IRQChannelSubPriority = 3; /响应优先级3NVIC_Init(&NVIC_InitStruct);TIM_Cmd(TIM3,ENABLE); /使能定时器3control.c (核控制程序，此模块程序可供读者详细阅读)12#include control.hint Target_velocity=50; /设定速度控制的标速度为50个脉冲每10ms34int TIM3_IRQHandler (void)5678TIM_Cl

14、earITPendingBit (TIM3,TIM_IT_Update );/=清除定时器3中断标志位/取定时器2计数器的值/LED闪烁910111213141516moto=Incremental_PI(Encoder,Target_velocity); /=速度PID控制器Xianfu_Pwm();Set_Pwm(moto);return 0;17 /*函数功能：赋值给PWM寄存器参数：PWM返回 值：1819202122232425262728void Set_Pwm(int moto)/赋值给PWM寄存器else返回 值：30 30313233343536373839int Ampli

15、tude=7100; /=PWM满幅是7200 限制在7100if(motoAmplitude) moto = Amplitude;4344454647484950515253545556e(k)代表本次偏差e(k-1)代表上次的偏差 以此类推pwm代表增量输出在我们的速度控制闭环系统，只使PI控制57 pwm+=Kpe（k）-e(k-1)+Ki*e(k)58 */59 int Incremental_PI (int Encoder,int Target)60616263646566676869float Kp=20,Ki=30;Pwm+=Kp*(Bias-Last_bias)+Ki*Bias

16、; /增量式PI控制器/保存上次偏差/增量输出三、位置闭环控制程序逻辑【说明】下述程序中 control.c 最为重要，包含了速度闭环控制器的详细代码。其他程序模块供读者初始化参考。main.c 12u8 flag_Stop=1; /停标志位int Encoder,Position=10000;/编码器的脉冲计数3/电机PWM变量4567/=延时初始化8/=初始化与LED 连接的硬件接/=初始化串19101112131415161718/初始化控制电机所需的IO/初始化pwm输出/初始化计数器（定时器）TIM3_Int_Init (99,7199); /10ms次中断moto.c 123GPI

17、O_InitTypeDef GPIO_InitStruct ;4RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);/PORTB12 13 14 15推挽输出GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB,&GPIO_InitStr

18、uct);5678910111213141516171819202122232425262728293031323334353637383940414243444546void pwm_Init(u16 arr,u16 psc) /初始化pwm输出引脚RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE); /使能定时器1时钟RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); /使能GPIOA的时钟TIM_TimeBaseInitStruct .TIM_Period = arr;TIM_Time

19、BaseInitStruct .TIM_CounterMode = TIM_CounterMode_Up ; /TIM向上计数模式TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2 ;/选择PWM2模式TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable ; /较输出使能TIM_OCInitStruct.TIM_Pulse = 0;/设置待装捕获较寄存器的脉冲值TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;TIM_OC1Init(T

20、IM1,&TIM_OCInitStruct);/初始化输出较参数TIM_OC1PreloadConfig (TIM1,TIM_OCPreload_Enable ); /CH1使能预装载寄存器TIM_CtrlPWMOutputs(TIM1,ENABLE);TIM_ARRPreloadConfig(TIM1, ENABLE);TIM_Cmd(TIM1,ENABLE);/级定时器输出必须设置这句/使能TIM1在ARR上的预装载寄存器/使能定时器1encoder.c 12void Encoder_Init_TIM2 (void)345GPIO_InitTypeDef GPIO_InitStructur

21、e ;6RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);/使能定时器2的时钟RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);/使 能PA端时钟789GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; /端配置GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING ; /浮空输10111213141516171819202122232425262728293031323334353

22、63738394041/根据设定参数初始化GPIOBTIM_TimeBaseStructure .TIM_Period = ENCODER_TIM_PERIOD-1; /设定计数器动重装值TIM_TimeBaseStructure .TIM_ClockDivision = TIM_CKD_DIV1;/选择时钟分频：不分频TIM_TimeBaseStructure .TIM_CounterMode = TIM_CounterMode_CenterAligned1 ;TIM向上计数TIM_TimeBaseInit (TIM2, &TIM_TimeBaseStructure );TIM_Encode

23、rInterfaceConfig (TIM2, TIM_EncoderMode_TI12 , TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);/使编码器模式3TIM_ICStructInit(&TIM_ICInitStructure ); /把TIM_ICInitStruct 中的每个参数按缺省值填TIM_ICInitStructure .TIM_ICFilter = 10; /设置滤波器长度TIM_ICInit(TIM2, &TIM_ICInitStructure );/根据 TIM_ICInitStruct 的参数初始化外设TIMxTIM_Cle

24、arFlag (TIM2, TIM_FLAG_Update );/清除TIM的更新标志位TIM_ITConfig(TIM2, TIM_IT_Update , ENABLE);/使能定时器中断TIM_SetCounter (TIM2,10000);/设 置TIMx 计数器寄存器值TIM_Cmd(TIM2, ENABLE); /使能定时器2/中断处理函数为空，清除中断标志位后结束中断void TIM2_IRQHandler (void)if(TIM_GetFlagStatus (TIM2,TIM_FLAG_Update )=SET)/溢出中断TIM_ClearITPendingBit (TIM2,

25、TIM_IT_Update );/清除中断标志位42 /*4344454647484950515253545556575859*/int Encoder_TIM;switch(TIMX)case 2:Encoder_TIM=(short)TIM2-CNT; break;case 3:Encoder_TIM=(short)TIM3-CNT; break;case 4:Encoder_TIM=(short)TIM4-CNT; break;default: Encoder_TIM=0;timer.c 12345678910111213141516171819202122232425262728TIM

26、_TimeBaseInitStruct .TIM_Period = arr; /重装载值TIM_TimeBaseInitStruct .TIM_Prescaler = psc; /预分频系数TIM_TimeBaseInitStruct .TIM_ClockDivision =0; /时钟分割TIM_TimeBaseInitStruct .TIM_CounterMode = TIM_CounterMode_Up ; /TIM向上计数模式TIM_TimeBaseInit (TIM3,&TIM_TimeBaseInitStruct );TIM_ITConfig(TIM3,TIM_IT_Update

27、,ENABLE); /使能定时器中断NVIC_InitStruct.NVIC_IRQChannel = TIM3_IRQn; /使能外部中断通道NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE; /使能外部中断通道NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1; /抢占优先级1NVIC_InitStruct.NVIC_IRQChannelSubPriority = 3; /响应优先级3NVIC_Init(&NVIC_InitStruct);TIM_Cmd(TIM3,ENABLE); /使能定时器3control.c (核控制程序，此模块程序可供读者详细阅读)12#include cont