//----------------------------------------------------------------------

//速度闭环PID计算程序

//----------------------------------------------------------------------

void Speed_Pid(void)

{

//DesiredSpeed = Motor_Speed/14;

if(Speed >= DesiredSpeed)    //计算偏差

{

SpeedError = Speed - DesiredSpeed;  //测量值大于给定值

Flags.Speed_error_dir = 1;          //偏差为负数

}

else

{

SpeedError = DesiredSpeed - Speed;  //给定值大于测量值

Flags.Speed_error_dir= 0;           //偏差为正负数

}

Txbuff[4] = SpeedError >>8; //将速度偏差值存入发送缓存

Txbuff[5] = SpeedError & 0x00FF;

//Speed = 0x0000;   //得到偏差后，将测量到得数据清空

if(Flags.Speed_error_dir ==0)    //偏差为正数，则积分数据和偏差相加

{

SpeedIntegral = SpeedIntegral + SpeedError;  //对偏差进行积分

}

else  //偏差为负数,则积分数据和偏差相减

{

if(SpeedIntegral>=SpeedError)  //积分大于偏差

{

SpeedIntegral = SpeedIntegral - SpeedError;

}

else //偏差大于积分

{

SpeedIntegral = SpeedError - SpeedIntegral;

}

}

if(SpeedIntegral >2000)  //积分限幅

{

SpeedIntegral = 2000;

}

Speed_PID = (SpeedError + SpeedIntegral*0 )/100;

Txbuff[8] = Speed_PID >>8;  //将电机速度PID数据存入发送缓存

Txbuff[9] = Speed_PID & 0x00FF;

这是速度环的代码

//----------------------------------------------------------------

//电流闭环PID计算程序

//----------------------------------------------------------------

void Current_Pid(void)

{

DesiredCurrent = Speed_PID;    //将速度环输出转换为电流环输入

if(Current >= DesiredCurrent)   //计算电流偏差

{

CurrentError = Current - DesiredCurrent;  //测量值大于给定值

Flags.Current_error_dir = 1;              //偏差为负

}

else

{

CurrentError = DesiredCurrent - Current;  //给定值大于测量值

Flags.Current_error_dir= 0;               //偏差为正

}

//Current = 0x0000;   //得到偏差后，将测量到的数据清空

if(Flags.Speed_error_dir ==0)    //根据偏差方向，决定积分数据和偏差是相加还是相减

{

CurrentIntegral = CurrentIntegral + CurrentError;  //对偏差进行积分

}

else

{

if(CurrentIntegral>=CurrentError)

{

CurrentIntegral = CurrentIntegral - CurrentError;

}

else

{

CurrentIntegral = CurrentError - CurrentIntegral;

}

}

if(CurrentIntegral >2000)  //积分限幅

{

CurrentIntegral = 2000;

}

Current_PID = (CurrentError + CurrentIntegral/20 )/20;

if(Flags.Speed_error_dir==0)

{

if(DutyCycle >= 65000)

{

DutyCycle = 65535;

}

else

{

DutyCycle = Current_PID + DutyCycle;    //电机加速

if(DutyCycle >=65000)

{

DutyCycle = 65535;

}

}

}

else                                        电机减速

{

if(DutyCycle >= Current_PID)

{

DutyCycle = DutyCycle - Current_PID;

}

else

{

DutyCycle = Current_PID - DutyCycle;

}

}

PDC1 = DutyCycle;

PDC2 = PDC1;

PDC3 = PDC1;

Txbuff[6] = DutyCycle >>8; //将电机占空比数据存入发送缓存

Txbuff[7] = DutyCycle & 0x00FF;

这是电流环的代码