不卡视频一区二区,玖草在线视频,亚洲综合第一页

#include"pid.h"
#include"fuzzy.h"
#include"pwm.h"
#include"dac.h"
PIDtypedef PID1; //PID結構體
PIDtypedef PID2;
PIDtypedef PID3;
PIDtypedef PID4;
extern u8 start_flag;
extern u16 pwm1,pwm2,pwm3,pwm4;
void PIDperiodinit(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); //時鐘使能
//定時器TIM6初始化
TIM_TimeBaseStructure.TIM_Period = arr; //設置在下一個更新事件裝入活動的自動重裝載寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //設置時鐘分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計數模式
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure); //根據指定的參數初始化TIMx的時間基數單位
TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE ); //使能指定的TIM3中斷,允許更新中斷
//中斷優先級NVIC設置
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn; //TIM3中斷
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //先占優先級1級
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //從優先級1級
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //初始化NVIC寄存器
// TIM_Cmd(TIM6, ENABLE); //放在主程序中使能
}
void TIM6_IRQHandler(void) // 采樣時間到，中斷處理函數
{
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET)//更新中斷
{
frequency1=1000000/period_TIM4 ; //通過捕獲的波形的周期算出頻率
frequency2=1000000/period_TIM1 ;
frequency3=1000000/period_TIM2 ;
frequency4=1000000/period_TIM5 ;
/********PID1處理**********/
PID1.sum_error+=(incPIDcalc(&PID1,frequency1)); //計算增量并累加
pwm1=PID1.sum_error*4.6875 ; //pwm1 代表將要輸出PWM的占空比
frequency1=0; //清零
period_TIM4=0;
/********PID2處理**********/
PID2.sum_error+=(incPIDcalc(&PID2,frequency2)); //計算增量并累加 Y=Y+Y'
pwm2=PID2.sum_error*4.6875 ; //將要輸出PWM的占空比
frequency2=0;
period_TIM1=0;
/********PID3處理**********/
PID3.sum_error+=(incPIDcalc(&PID3,frequency3)); //常規PID控制
pwm3=PID3.sum_error*4.6875 ; //將要輸出PWM的占空比
frequency3=0;
period_TIM2=0;
/********PID4處理**********/
PID4.sum_error+=(incPIDcalc(&PID4,frequency4)); //計算增量并累加
pwm4=PID4.sum_error*4.6875 ; //將要輸出PWM的占空比
frequency4=0;
period_TIM5=0;
}
TIM_SetCompare(pwm1,pwm2,pwm3,pwm4); //重新設定PWM值
TIM_ClearITPendingBit(TIM6, TIM_IT_Update); //清除中斷標志位
}
void incPIDinit(void)
{
//PID1參數初始化
PID1.sum_error=0;
PID1.last_error=0;
PID1.prev_error=0;
PID1.proportion=0;
PID1.integral=0;
PID1.derivative=0;
PID1.setpoint=0;
//PID2參數初始化
PID2.sum_error=0;
PID2.last_error=0;
PID2.prev_error=0;
PID2.proportion=0;
PID2.integral=0;
PID2.derivative=0;
PID2.setpoint=0;
//PID3參數初始化
PID3.sum_error=0;
PID3.last_error=0;
PID3.prev_error=0;
PID3.proportion=0;
PID3.integral=0;
PID3.derivative=0;
PID3.setpoint=0;
//PID4參數初始化
PID4.sum_error=0;
PID4.last_error=0;
PID4.prev_error=0;
PID4.proportion=0;
PID4.integral=0;
PID4.derivative=0;
PID4.setpoint=0;
}
void PID_setpoint(PIDtypedef*PIDx,u16 setvalue)
{
PIDx->setpoint=setvalue;
}
int incPIDcalc(PIDtypedef *PIDx,u16 nextpoint)
{
int iError,iincpid;
iError=PIDx->setpoint-nextpoint; //當前誤差
/*iincpid= //增量計算
PIDx->proportion*iError //e[k]項
-PIDx->integral*PIDx->last_error //e[k-1]
+PIDx->derivative*PIDx->prev_error;//e[k-2]
*/
iincpid= //增量計算
PIDx->proportion*(iError-PIDx->last_error)
+PIDx->integral*iError
+PIDx->derivative*(iError-2*PIDx->last_error+PIDx->prev_error);
PIDx->prev_error=PIDx->last_error; //存儲誤差，便于下次計算
PIDx->last_error=iError;
return(iincpid) ;
}
void PID_set(float pp,float ii,float dd)
{
PID1.proportion=pp;
PID1.integral=ii;
PID1.derivative=dd;
PID2.proportion=pp;
PID2.integral=ii;
PID2.derivative=dd;
PID3.proportion=pp;
PID3.integral=ii;
PID3.derivative=dd;
PID4.proportion=pp;
PID4.integral=ii;
PID4.derivative=dd;
}
/*最后設定四個輪子的轉速，轉速 1rad/s等價于122.23個脈沖每秒的轉速*/
void set_speed(float W1,float W2,float W3,float W4)
{
float temp;
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