STM32驱动无刷电机用PID实现速度环控制 保姆级教程

各位，9月份，我花了差不多1个月时间，实现了STM32用六步换相法驱动无刷电机的程序编制和调试。那么，既然电机都转起来了，怎么也得搞个PID实现速度环控制嘛。于是，我就开始学习无刷电机的速度环PID控制，抱歉我是对PID一无所知的小白。

结果，花了我3天时间，居然实现了速度环PID控制，本着传播优秀知识，造福中华民族和全人类的宗旨，我现在来写个保姆级教程，来教大家怎么实现这个速度环PID。

首先，还是要感谢下列人员，在我开发PID中对我的帮助。

1. 参考了下列文章：

使用stm32实现电机的PID控制_stm32pid控制电机-CSDN博客

使用STM32实现对电机的PID控制_stm32 pid控制算法代码-CSDN博客 

UM2124_基于STM32F单片机的six-step固件库的入门指南 | STMCU中文官网 

感谢安富利的Cavin, 感谢QQ群的 GuanGuan和Medivh。

2. 这个没有什么好配置的，直接上代码吧

pid.h

#define KP_GAIN_VM                         4000     /*!< Kp parameter for PI regulator */
#define KI_GAIN_VM                           30     /*!< Ki parameter for PI regulator */   
#define KP_DIV_VM                          8192     /*!< Kp parameter divider for PI regulator */
#define KI_DIV_VM                          8192     /*!< Ki parameter divider for PI regulator */   
#define LOWER_OUT_LIMIT_VM                  400     /*!< Low Out value of PI regulator */      
#define UPPER_OUT_LIMIT_VM     (int16_t)(period*0.8)     /*!< High Out value of PI regulator */   

typedef struct
{
    int16_t Kp_Gain;                      /*!< Kp value for PI regulator */ 
    int16_t Ki_Gain;                      /*!< Ki value for PI regulator */  
    int16_t Lower_Limit_Output;           /*!< Min output value for PI regulator */ 
    int16_t Upper_Limit_Output;           /*!< Max output value for PI regulator */ 
    int8_t Max_PID_Output;                /*!< Max Saturation indicator flag */ 
    int8_t Min_PID_Output;                /*!< Min Saturation indicator flag */
    int32_t Integral_sum;
}PID_Handle_t;

pih.c

void PID_HandleInit(PID_Handle_t *pHandle)
{
    pHandle->Kp_Gain = KP_GAIN_VM;
    pHandle->Ki_Gain = KI_GAIN_VM;
    pHandle->Lower_Limit_Output = LOWER_OUT_LIMIT_VM;
    pHandle->Upper_Limit_Output = UPPER_OUT_LIMIT_VM;
    pHandle->Max_PID_Output = RESET;
    pHandle->Min_PID_Output = RESET;
    pHandle->Integral_sum = 0;
}

uint16_t PI_Controller(PID_Handle_t *pHandle, int32_t hError)
{
    int32_t wProportional_Term=0, wIntegral_Term=0, wOutput_32=0,wIntegral_sum_temp=0;

    wProportional_Term = pHandle->Kp_Gain * hError;

    if(pHandle->Ki_Gain == 0)
    {
        pHandle->Integral_sum=0;
    }
    else
    {
        wIntegral_Term=pHandle->Ki_Gain * hError;
        wIntegral_sum_temp = pHandle->Integral_sum + wIntegral_Term;
        pHandle->Integral_sum = wIntegral_sum_temp;
    }

    if(pHandle->Integral_sum > KI_DIV_VM*pHandle->Upper_Limit_Output)
    {
        pHandle->Integral_sum = KI_DIV_VM*pHandle->Upper_Limit_Output;
    }

    if(pHandle->Integral_sum < -KI_DIV_VM*pHandle->Upper_Limit_Output)
    {
        pHandle->Integral_sum = -KI_DIV_VM*pHandle->Upper_Limit_Output;
    }

    wOutput_32 = (wProportional_Term/KP_DIV_VM) + (pHandle->Integral_sum/KI_DIV_VM);

    if(wOutput_32 > pHandle->Upper_Limit_Output)
    {
        wOutput_32 = pHandle->Upper_Limit_Output;
    }
    else if(wOutput_32 < pHandle->Lower_Limit_Output)
    {
        wOutput_32 = pHandle->Lower_Limit_Output;
    }

    
    return (uint16_t)wOutput_32;
    
}

uint16_t Speed_Controller(PID_Handle_t *PISpeed, int32_t targetSpeed, int32_t realSpeed)
{
    uint16_t hDutyCycleReference=0;

    int32_t hError;

    hError = targetSpeed - realSpeed;

    hDutyCycleReference = PI_Controller(PISpeed, hError);

  //  usb_printf("pulse is %d\r\n", hDutyCycleReference);

    return hDutyCycleReference;

}

电机控制程序重要片段

 if(htim->Instance==TIM2)
  {

    if(M1_motor_status==2) // motor is running
    {
      M1_hall_pos = M1_get_hall_pos();
      if(M1_pre_hall_pos!=M1_hall_pos)
      {
        M1_pre_hall_pos=M1_hall_pos;
        //__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, (uint32_t)(period/1.2));  //1.2
        //__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, (uint32_t)(period/1.8));  //1.8
        //__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, (uint32_t)(period/2.5));  //2.5

       __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, (uint32_t)Speed_Controller(&speedPID, M1_target_speed, M1_motor_speed));
       __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, (uint32_t)Speed_Controller(&speedPID, M1_target_speed, M1_motor_speed));
       __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, (uint32_t)Speed_Controller(&speedPID, M1_target_speed, M1_motor_speed));

        M1_motor_change(M1_hall_pos, motor_direction);
      }
    }
  }

3.运行结果确认

将target_speed设定为800rpm, 下面是实际PID调速的结果。

基本实现了800rpm的调速。

至此，STM32 无刷电机的PID速度环控制，大功告成，亲个嘴儿。