分享低功耗msp430PID控制电机转速的C程序

只看该作者 · 2018-8-30 11:53

分享低功耗msp430PID控制电机转速的C程序
#include <msp430x14x.h>
#include <math.h>
#include <stdlib.h>
unsigned int cap_tar,cap_first,cap_last,time,pluse,flag=0,temp1;
float speed,Uk,vis=0,temp2=0;
/*******************************************
函数名称：定时器中断服务函数
功能：用于捕捉传感器的脉冲信号
参数：无
返回值  ：无
********************************************/
#pragma vector=TIMERA0_VECTOR
__interrupt void timerA0(void)
{
  if(cap_tar==0)
  {
cap_first=TACCR0;
cap_tar++;
  }
  else
  {
cap_last=TACCR0;
cap_tar++;
flag=1;
  }
}
#pragma vector=TIMERA1_VECTOR
__interrupt void timerA1(void)
{
  switch(TAIV)
  {
  case 2:break;
  case 4:break;
  case 10:
{
   if(cap_last>cap_first)
      {
      if(cap_tar==0)
         pluse=0;
      else
      {
         pluse=cap_tar-1;
         time=cap_last-cap_first;
         cap_tar=0;
      }
      }
   }
break;
  }
}
/*******************************************
函数名称：Count_speed
功能：计算实际转速
参数：无
返回值  ：实际转速
********************************************/
float Count_speed(int pluse,int time)
{
float ActualSpeed;
ActualSpeed = 2682062.0*pluse/time; //基础脉冲一圈一个信号
return ActualSpeed;
}
/*******************************************
函数名称：增量式PID控制程序
功能：用PID反馈控制输出一个反馈控制量
参数：无
返回值  ：UK控制量
********************************************/
struct _pid{
float SetSpeed;//定义设定值
float ActualSpeed;//定义实际值
float err0,err1,err2; //定义偏差值
float Kp,Ki,Kd;//定义比例、积分、微分系数
float Uk0,Uk1;//控制执行器的变量
}pid;
void PID_init(){
pid.SetSpeed=0.0;
      pid.ActualSpeed=0.0;
pid.err0=0.0;
pid.err1=0.0;
      pid.err2=0.0;
pid.Uk0=0.0;
      pid.Uk1=0.0;
pid.Kp=8;
pid.Ki=3;
pid.Kd=1;
}
float PID_realize(float ActuaSpeed)
{
  pid.SetSpeed=3000;
  pid.ActualSpeed=ActuaSpeed;
  pid.err0 = pid.SetSpeed - pid.ActualSpeed;
  pid.Uk0 = pid.Uk1+pid.Kp*(pid.err0-pid.err1)+pid.Ki*pid.err0+pid.Kd*(pid.err0-pid.err1-pid.err1+pid.err2);
  if(pid.Uk0>1023)
  {
pid.Uk0=1023;
  }
  if(pid.Uk0<0)
  {
pid.Uk0=1;
  }
  pid.Uk1 = pid.Uk0;
  pid.err2 = pid.err1;
  pid.err1 = pid.err0;
  Uk = pid.Uk0;
  return Uk;
}
int main(){
         float ActualSpeed=0;
         volatile unsigned int i;

         P1DIR = 0XFF;P1OUT = 0XFF;
         P2DIR = 0XFF;P2OUT = 0XFF;
         P3DIR = 0XFF;P3OUT = 0XFF;
         P4DIR = 0XFF;P4OUT = 0XFF;
         P5DIR = 0XFF;P5OUT = 0XFF;
         P6DIR = 0XFF;P6OUT = 0XFF;

         WDTCTL = WDTPW + WDTHOLD; //停止看门狗
         BCSCTL1 &= ~XT2OFF;

            do
            {
               IFG1 &= ~OFIFG;                         // Clear OSCFault flag
               for (i = 0xFF; i > 0; i--);             // Time for flag to set
            }
            while ((IFG1 & OFIFG));

            BCSCTL2 |=SELM_2+ SELS;
            TACTL=TASSEL_1+MC_2+TACLR+TAIE;
            TACCTL0=CM_1+SCS+CCIS_0+CAP+CCIE;
            P1DIR&=~BIT1;
            P1SEL|=BIT1;

            TBCCTL0 = CCIE;                //使能CCR0中断
            TBCCR0 = 4;
            TBCTL = TBSSEL_1 + ID_3 + MC_1; //定时器A的时钟源选择SMCLK，增计数模式
            _EINT();

            PID_init();

         ActualSpeed=Count_speed(pluse,time);

         while(ActualSpeed!=3000.0)
               {

               float PID_realize(float ActuaSpeed);

               BCSCTL1 |= XTS;
               BCSCTL2 |= SELM_3;                      // MCLK=LFXT1
               P1DIR |= 0x0C;                         // P1.2 输出
               P1SEL |= 0x0C;
               TACTL = TASSEL_1 + MC_1;                // ACLK, 增计数模式
               CCR0 = 512-1;                            // PWM 周期
               CCTL1 = OUTMOD_7;       // CCR1 重置/设置
               CCR1 = (int)Uk;                      // CCR1 PWM占空比
               _BIS_SR(LPM0_bits);

               ActualSpeed=Count_speed(pluse,time);

               }

}