STM32 PID速度环 PID输出的速度总是达不到我设定的速度值

2019-12-20 21:41发布

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pillar2060

1楼-- · 2019-12-21 00:28

疑问2：关于我的位置PID算法有什么问题？导致我的设定值和PID输出值一直不能一致。

float RM_Kp=4;
float RM_Ki=0;
float RM_Kd=0;
float RM_Lim=100.0;

typedef struct
{

float kp;
float ki;
float kd;
float errILim;

float errNow;
float ctrOut;

float errOld;
float errP;
float errI;
float errD;
}PID_AbsoluteType;

void PID_AbsoluteMode(PID_AbsoluteType* PID)
{
   if(PID->kp    < 0.0) PID->kp    = -PID->kp;
   if(PID->ki    < 0.0) PID->ki    = -PID->ki;
   if(PID->kd    < 0.0) PID->kd    = -PID->kd;
   if(PID->errILim < 0.0) PID->errILim = -PID->errILim;

   PID->errP = PID->errNow;

   PID->errI += PID->errNow;

   if(PID->errILim != 0)
   {
if(    PID->errI >  PID->errILim) PID->errI =  PID->errILim;
else if(PID->errI < -PID->errILim) PID->errI = -PID->errILim;
   }

   PID->errD = PID->errNow - PID->errOld;
   PID->errOld = PID->errNow;
   PID->ctrOut = PID->kp * PID->errP + PID->ki * PID->errI + PID->kd * PID->errD;

}

void PidSpeedControl(int Speed) //入口参数设定的速度值  100
{
SpeedNow = GetEncoder.V;          //get Encoder speed it is real speed

  SpeedTag = Speed;                   //this speed is set speed

PidSpeedType.errNow  = SpeedTag - SpeedNow;    //get  speed Difference

PidSpeedType.kp    =RM_Kp; //get main.c RM_Kp value
PidSpeedType.ki    = RM_Ki; //get main.c RM_Ki value
PidSpeedType.kd    =RM_Kd; //get main.c RM_Kd value
PidSpeedType.errILim = RM_Lim; //get main.c RM_Lim value
PID_AbsoluteMode(&PidSpeedType);
SpeedControl = PidSpeedType.ctrOut;  //输出速度值
printf("%d ",SpeedControl );
MotorSpeedSet(SpeedControl); //          PWM占空比 = SpeedControl / ARR    （ARR=719）  PWM 频率14Khz
}