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stm32+增量式pid+max6675 PWM温度控制

本文采用的芯片为STM32F103RCT6

代码写了，具体还没试验过

因为选用的热电偶线测温变化太快，所以在中间加了报警，但是里面没有蜂鸣器。后续代码会改进。会加上CAN总线等设置。只是简单实现温控。

pid.h

#ifndef __PID_H#define __PID_H#include "sys.h"typedef struct {
   	int Set_temperature;		//期望值	int Current_temperature;    //当前值		float proportion; 			//比例系数P	float integral; 			//积分系数I	float differential; 		//微分系数D	int T; //采样周期		float error_current; 	        //当前误差:浮点数	int error_last; 		    //上一步误差    int error_sum;              //误差累计		float pid_proportion_out;		   //比例项	float pid_integral_out;		       //积分项	float pid_differential_out;		   //微分项	float pid_out; 	                  //PID控制输出	}PID;//PID  *Pid;//存放PID算法需要的数据//void PID_Init(int SETtemp); float pid_control(PID *PP,float current_temp); void PWM_CONTROL(float SUM); //占空比计算的void PWM_Out(u8 m); //按功率输出的 //struct PID  *PP; #endif

pid.c

#include "pid.h"#include "timer.h"#include "usart.h"//void PID_Init(int SETtemp)  //启动时，PID的参数值应该从保存上次值的存储器空间读取出来。在此直接设定//{
   //    Pid->Set_temperature=SETtemp;    //用户设定值//	Pid->proportion=20;//	Pid->integral=5000;   //积分系数//	Pid->differential=1200;   //微分系数//	Pid->T=1000;    //Pid计算周期（采样周期)//    Pid->error_current=0.0;//	Pid->error_last=0;//	Pid->error_sum=0;//	Pid->pid_proportion_out=0;//	Pid->pid_integral_out=0;//	Pid->pid_differential_out=0;//	Pid->pid_out=0;//}		//struct PID *PP,float pid_control( PID *PP,float current_temp){
   static float PID_ZL=0.0;	float result=0.0;	float A0,A1,A2;	PP->error_current = PP->Set_temperature - current_temp;printf("the PP->error_current is:%.2f\n",PP->error_current);printf("\n");    if(PP->error_current>20)PWM_Out(0);    else if(PP->error_current<-20)PWM_Out(1);    else if(PP->error_current>10 && PP->error_current<20)PWM_Out(2);    else if(PP->error_current>-20 && PP->error_current<-10)PWM_Out(3);    else if(PP->error_current>-20 && PP->error_current<-10)PWM_Out(3);	/*==============	增量式PID算法 增量式PID需每次叠加	================*/    else if(PP->error_current<10 && PP->error_current>-10){
            A0=PP->proportion * (1+ PP->T/PP->integral +PP->differential/PP->T);		 A1=-PP->proportion * (1+ 2*PP->differential/PP->T);		 A2=PP->proportion * (PP->differential/PP->T);		result =A0 * PP->error_current + A1 * PP->error_last +A2 * PP->error_sum ;		result += PID_ZL;		if (result>900){
   		       if(PP->error_current>0)PWM_Out(0);			   else PWM_Out(1);		}		else if (result<-5){
   		       if(PP->error_current>0)PWM_Out(0);			   else PWM_Out(1);		}		else if (-5
   
    <5){
   		        PWM_Out(4);		}			else if (result>5&&result<900){
   			if(PP->error_current>0)PWM_CONTROL(result);			else PWM_CONTROL(-result);		}			}			PID_ZL=result;printf("the PID_ZL is:%.2f\n",PID_ZL);printf("\n");		PP->error_sum=PP->error_last;    PP->error_last=PP->error_current;	return result;}/*==============10度以内  PID控制	判断result范围，确定占空比	=============*/void PWM_CONTROL(float SUM){
   int a=0;	a=SUM;printf("the ccrx
    
     0)TIM_SetCompare3(TIM3,a);else TIM_SetCompare1(TIM3,-a);}void PWM_Out(u8 m){
   switch(m)	{
   /*=========================================		tim_ch3--加热    tim_ch1--冷却20度差值： 全功：0：加热不冷却  1：冷却不加热10-20度之间   半功热	===========================================*/	 	case 0 :				TIM_SetCompare3(TIM3,0);		        TIM_SetCompare1(TIM3,900);		        break;			case 1 : 				TIM_SetCompare3(TIM3,900);		        TIM_SetCompare1(TIM3,0);				break;			case 2 : 				TIM_SetCompare1(TIM3,800);		        TIM_SetCompare3(TIM3,449);				break;			case 3 : 				TIM_SetCompare1(TIM3,449);		        TIM_SetCompare3(TIM3,800);				break;	        case 4 : //全关				TIM_SetCompare1(TIM3,900);		        TIM_SetCompare3(TIM3,900);				break;	        case 5 : //全开				TIM_SetCompare1(TIM3,0);		        TIM_SetCompare3(TIM3,0);				break;						}	}
    
   

pwm.h

#ifndef __TIMER_H#define __TIMER_H#include "sys.h"void TIM3_PWM_Init(u16 arr,u16 psc);#endif

pwm.c

#include "timer.h"#include "GPIO.h"//#include "usart.h"//#include "stm32f10x.h"void TIM3_PWM_Init(u16 arr,u16 psc){
     	GPIO_InitTypeDef GPIO_InitStructure;	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;	TIM_OCInitTypeDef  TIM_OCInitStructure;		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);	//使能定时器3时钟 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟		GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer3完全重映射       /* FULL REMAP  ---   PC6/7/8/9  TIM_CH1/2/3/4*/   //设置该引脚为复用输出功能,	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; //TIM_CH2	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化GPIO    //初始化TIM3	TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值	TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位		//初始化TIM3 Channel2 PWM模式	 	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高			TIM_OC1Init(TIM3, &TIM_OCInitStructure);	TIM_OC1PreloadConfig(TIM3,TIM_OCPreload_Enable);//比较预装载		TIM_OC2Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2	TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器		TIM_OC3Init(TIM3, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx    TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIMx在CCR3上的预装载寄存器		TIM_OC4Init(TIM3, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx    TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIMx在CCR4上的预装载寄存器	    TIM_ARRPreloadConfig(TIM3,ENABLE);//自动重装载	TIM_Cmd(TIM3, ENABLE);  //使能TIM3}

main.c

#include "stm32f10x.h"#include "usart.h"	#include "delay.h"#include "sys.h"#include "max6675.h"#include "spi.h"#include "led.h"#include "timer.h"#include "pid.h"int main(void){
           PID  temperature;    temperature.Set_temperature=50;    //用户设定值	temperature.proportion=20;	temperature.integral=5000;   //积分系数	temperature.differential=1200;   //微分系数	temperature.T=1000;    //temperature计算周期（采样周期)    temperature.error_current=0.0;	temperature.error_last=0;	temperature.error_sum=0;	temperature.pid_proportion_out=0;	temperature.pid_integral_out=0;	temperature.pid_differential_out=0;	temperature.pid_out=0;//	float t1;	float t2,t3;	float temp_error;	    float pid_result;    	SystemInit();	    LED_init();	    delay_init();		uart_init(9600);	    max6675_MONI_init();	    SPI2_Init();    	SPI2_SetSpeed(SPI_BaudRatePrescaler_8);//max6675的串行时钟频率为4.3Mhz	    SPI1_Init();    	SPI1_SetSpeed(SPI_BaudRatePrescaler_8);//max6675的串行时钟频率为4.3Mhz	//	    PID_Init(50);//PID设置温度		    TIM3_PWM_Init(900-1,0);//不分频。PWM频率=72000000/9999+1/143+1=50hz	    TIM_SetCompare1(TIM3,449);		    TIM_SetCompare2(TIM3,300);//	    TIM_SetCompare3(TIM3,0);	    TIM_SetCompare4(TIM3,900);	    while(1)		{
   											GPIO_ResetBits(GPIOA,GPIO_Pin_8);		GPIO_ResetBits(GPIOC,GPIO_Pin_12);		GPIO_ResetBits(GPIOD,GPIO_Pin_2);		/*温度显示模块*///		t1=max6675_readTemperature();//		printf("the I temperature is:%.2f\n",t1);//		printf("\n");	    t3=max6675_readTemp_III();		printf("the III temperature is:%.2f\n",t3);		printf("\n");			delay_ms(300);		t2=max6675_readTemp();		printf("the II temperature is:%.2f\n",t2);		printf("\n");			temp_error=t2-t3;/*==================	报警函数				====================*/if(temp_error>150)	{
       printf("warning");    printf("\n");   t2=temperature.Set_temperature;}				pid_result=pid_control(&temperature,t2);		printf("the pid_result is:%.2f\n",pid_result);		printf("\n");		GPIO_SetBits(GPIOA,GPIO_Pin_8);		GPIO_SetBits(GPIOC,GPIO_Pin_12);		GPIO_SetBits(GPIOD,GPIO_Pin_2);		delay_ms(300);		}}

代码文件：

链接：

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