【STM32电机培训】- 基于MC SDK5.0 PI组件接口函数做在线参数...

TLLED · 2018-08-31T14:53:56+00:00

实验3：基于MC SDK5.0 PI组件接口函数做在线参数修改。+ w4 [- u* T/ z: s1 D 1、实验内容: - X" a& u* ] A' j$ ^$ n 7 ~ \ T6 P& |0 S , w- c) B& o- A. ]) |3 e 2、程序修改； 4 F3 s1 f9 _2 q% i 在生成的源码上修改，内容如下：! T0 R; T3 n& W) P; ]/ C& K main.c内容修改： 1 R6 w6 \3 P" c2 U' p程序的顶部增加mc_extended_api.h头文件。4 o; S: N1 [( l! n /* USER CODE BEGIN Includes */ 8 m! C$ r' {4 J, B# a#include "mc_extended_api.h"/ e* ]# Z( Q! H0 g8 s /* USER CODE END Includes */ . Q4 e6 o4 H; X5 E) ~+ a# x1 `! O' ^6 q3 k" E1 q6 {- S / r9 t0 S1 A9 u/* USER CODE BEGIN PV */ % h: x: d& N: s$ q7 W8 E3 D/* Private variables ---------------------------------------------------------*/ a4 G0 U- [( [$ X MCT_Handle_t *pMctHdl; //定义的变量( {5 I/ I7 H8 L% K* D) c) t& @/ B% m static int16_t Speed_Kp,Speed_Ki; 9 Y& _* a( h5 N# f5 ?/* USER CODE END PV */: A @, u( ~& k2 I7 R0 L 3 s: r3 v% o# _9 o1 O: Wint main(void) " C: A) b a9 a* f{ 3 h$ q- Z& ^! y$ { /* USER CODE BEGIN 1 */5 r# M& S0 a. U4 }7 C /* USER CODE END 1 */ " v; C9 @6 Y$ n$ n& l6 G* f' z+ n! r. _8 C9 { /* MCU Configuration----------------------------------------------------------*/ ! y' `% ]5 t! a+ h9 ~# Z/ T8 _. ?$ Q /* Reset of all peripherals, Initializes the Flash interface and the Systick. */# J" f8 e5 W7 k( W HAL_Init(); " o5 C3 @/ z5 D7 J. ]7 P / J" [& \& }% N$ _2 v! Z /* USER CODE BEGIN Init */6 l* _: ?: P) y7 a% M9 s; Q 8 y3 {% P$ x: ~9 d( z /* USER CODE END Init */2 _+ p/ e3 b" Q5 j1 [) N/ S" l ; [; u% A8 R& c" b4 y /* Configure the system clock */1 o2 ^/ e( b6 [( N" v* t6 p SystemClock_Config(); ( B, F9 h2 F9 [3 } / R+ {" o$ M4 o a$ o /* USER CODE BEGIN SysInit */ ' T K# M1 s6 h, f b+ |1 i# J7 P" `. K t8 e /* USER CODE END SysInit */- E2 { M- p" ^. Q5 { ; |% S" n7 _ b5 H0 V- K /* Initialize all configured peripherals */1 @, C) j, \- e- Q7 q# g MX_GPIO_Init();+ T5 z% ~! N4 ^& } MX_ADC1_Init(); 4 x, @) R6 Y( {2 ]$ e3 _/ P MX_DAC_Init();' u8 O/ J {) v( |6 s. v! Q- { ^ MX_TIM1_Init();6 Z& H! N5 Y) c& T MX_USART2_UART_Init(); 6 v4 x8 @3 S8 N1 z3 H MX_MotorControl_Init(); ) d, C: y/ k, k" [5 @$ r2 x u 7 D8 ?' U$ f3 M/ g/ M /* Initialize interrupts */ 8 Y% S7 P9 T' H* @, H MX_NVIC_Init(); J1 \$ @* F9 r( R /* USER CODE BEGIN 2 */ + R; \- O! r3 [" H# E1 ]) M0 |4 m, X! g/ S( Z, i pMctHdl = GetMCT(M1);2 |$ n. [% H& I8 {9 { Speed_Kp= PID_GetKP(pMctHdl->pPIDSpeed); ( ~( f8 C% R& J0 Q& R0 S m3 [ Speed_Ki= PID_GetKI(pMctHdl->pPIDSpeed);" g" U6 o$ _( L PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*2); 1 ` i0 \/ _' g PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*2);, m+ y2 _" W3 ` # M& Q; p! e! I v4 D /* USER CODE END 2 */ ) g& ~3 Z1 G4 k7 \' Y # i; ^" q% N. W) ~" q+ H /* Infinite loop */ # _3 o3 ]3 D) P6 ?0 V /* USER CODE BEGIN WHILE */2 ~0 i+ I' t4 E# W" c while (1) + c5 b% [3 t& G {5 z. Q7 t% _5 l, h( ~' I. ?. a' B- p ! e9 l, I! F5 O2 V' @8 K /* USER CODE END WHILE */ `% A8 f z" f- D3 W& V0 Q # b" ^* v2 G( d9 K$ B2 g+ J# m /* USER CODE BEGIN 3 */8 _1 G9 q6 J( Y. W , t% M5 X0 P' [ } 6 H' A/ o6 x6 U6 j /* USER CODE END 3 */& d8 m5 S5 z8 q/ ~8 ?' ?* w 5 f9 E4 q4 M) y/ ~}5 z9 B. u0 ^) W/ O 2 Q+ I2 H; M/ K% \ i w ' u6 x7 U6 t, g2 z# l3 w1 s! A 3、程序执行的结果：. G7 K* F: f# ~8 E; m7 I7 | 3.1、原始PID数据7 Z, C* H- [$ `3 P PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*1); # T! g' q. @5 _ u PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*1); ; x: w& I* }: J7 S$ S5 C5 S( d" G" z) ]- D1 S 9 b& u3 E4 [* J$ V0 o2 E9 ]7 ? - C0 ~ z. ]9 e% d3.2、2倍PID数据- x9 s; o6 ^8 s! W. ^ PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*2); 2 t0 i# R8 G* x3 v2 V4 N9 u% R( g/ T PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*2);: \, z+ h8 Y8 Q* Q 4 c9 F. |$ T4 i4 s5 z9 N 5 ^0 k0 h( S1 X7 K. u) S2 L / L4 O& P- l) G9 q& ^ 3.3、0.5倍PID数据 + [1 f8 G' v3 k- ^: f, C5 M PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*0.5);6 M6 W9 }1 U1 m$ k PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*0.5);: \* e/ M* x+ @. X& q- n' J8 _ 8 e9 s O2 W- h+ a& D; v/ W9 }( Q 4 b4 F. X9 Y+ G9 T) j% x( a9 \: q7 g5 ?( I0 x6 D * W: x6 k/ w+ K2 z 9 t# [. P9 ^8 K P# D4 i 8 M5 U' w. R e ; ? r$ `; Z" C8 H2 v / a% ]. h- y! Q- h# F2 ~4 d % Q3 ~( }. S1 S! M. U/ e3 } 8 ?- `( p8 A7 O4 v9 C, Y5 c2 ~, S( F9 F$ g! F1 w- [1 S , l. ~6 P! k* C2 r( f

【STM32电机培训】- 基于MC SDK5.0 PI组件接口函数做在线参数...

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TLLED 发布时间：2018-8-31 22:53

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实验3：基于MC SDK5.0 PI组件接口函数做在线参数修改。
1、实验内容:

2、程序修改；
在生成的源码上修改，内容如下：
main.c内容修改：
程序的顶部增加mc_extended_api.h头文件。
/* USER CODE BEGIN Includes */
#include "mc_extended_api.h"
/* USER CODE END Includes */

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
MCT_Handle_t *pMctHdl;                      //定义的变量
static int16_t Speed_Kp,Speed_Ki;
/* USER CODE END PV */

int main(void)
{
  /* USER CODE BEGIN 1 */
  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ADC1_Init();
  MX_DAC_Init();
  MX_TIM1_Init();
  MX_USART2_UART_Init();
  MX_MotorControl_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */

pMctHdl = GetMCT(M1);
Speed_Kp= PID_GetKP(pMctHdl->pPIDSpeed);
Speed_Ki= PID_GetKI(pMctHdl->pPIDSpeed);
PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*2);
PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*2);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */

}

3、程序执行的结果：
3.1、原始PID数据
PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*1);
PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*1);