ARM单片机（GD32F103）PID控制测试——基于DSP库

ARM DSP库控制函数包括了经典的PID控制，PID控制在工程领域运用广泛，本文就ARM的PID函数进行测试。

测试方案：将ADC采集结果作为控制目标，ADC与DAC连接，DAC作为被控对象。目标参考值为ADC 2678，打印输出，导入MATLAB。

ADC和DAC设置函数：

#include "dsp_test.h"
#include "systick.h"

arm_pid_instance_f32 S;		//定义PID结构体
float ref=2678./4095*3.3;	//ADC参考目标值：2678

void ad_da_init(void)
{
	//时钟配置
	rcu_periph_clock_enable(RCU_GPIOA);
	rcu_periph_clock_enable(RCU_AF);
	rcu_periph_clock_enable(RCU_ADC0);
	rcu_periph_clock_enable(RCU_DAC);
	
	rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV12);
	
	//接口配置
	gpio_init(GPIOA,GPIO_MODE_AIN,GPIO_OSPEED_50MHZ,GPIO_PIN_4);
	gpio_init(GPIOA,GPIO_MODE_AIN,GPIO_OSPEED_50MHZ,GPIO_PIN_6);
	
	//ADC输入配置
	adc_special_function_config(ADC0,ADC_CONTINUOUS_MODE,ENABLE);
	adc_data_alignment_config(ADC0,ADC_DATAALIGN_RIGHT);
	adc_channel_length_config(ADC0,ADC_REGULAR_CHANNEL,1);
	adc_regular_channel_config(ADC0,0,ADC_CHANNEL_6,ADC_SAMPLETIME_55POINT5);
	adc_external_trigger_config(ADC0,ADC_REGULAR_CHANNEL,DISABLE);
	
	adc_enable(ADC0);
	delay_ms(1);
	adc_calibration_enable(ADC0);
	
	//DAC输出配置
	dac_trigger_source_config(DAC0,DAC_TRIGGER_SOFTWARE);
	dac_trigger_enable(DAC0);
	dac_wave_mode_config(DAC0,DAC_WAVE_DISABLE);
	dac_output_buffer_enable(DAC0);
	
	dac_enable(DAC0);
	
	//PID参数初始化
	S.Kd=0;
	S.Ki=16;
	S.Kp=100;

	arm_pid_init_f32(&S,1);
}



volatile float adc_get=0.;

void dsp_test(void)
{
	 
	float32_t pid_num=0.;
	
	pid_num=arm_pid_f32(&S,ref-adc_get);	//PID处理，输入为误差信号

	if(pid_num>=4095)
	{
		pid_num=4095;
	}
    dac_data_set(DAC0, DAC_ALIGN_12B_R, (u16)pid_num);
       
    dac_software_trigger_enable(DAC0);
	
	adc_software_trigger_enable(ADC0,ADC_REGULAR_CHANNEL);
	if(adc_flag_get(ADC0,ADC_FLAG_EOC))
	{
		adc_flag_clear(ADC0,ADC_FLAG_EOC);
		adc_get = adc_regular_data_read(ADC0)/4095.*3.3;
	}
	
	printf("%f	%d	%d\r\n",adc_get,(u16)pid_num,adc_regular_data_read(ADC0));
}

主函数：

#include "bitband.h"
#include "led.h"
#include "systick.h"
#include "print.h"
#include "dsp_test.h"

u16 mem_infor[2]={0};
u32 uid[3]={0};


int main(void)
{
    systick_set(96);
	led_init();
	
	print_config(9600);
	
	get_mem_infor(&mem_infor[0],&mem_infor[1]);
	printf("GD32F103VKT6 Flash Size=%dKB,Sram Size=%dKB...\r\n",mem_infor[1],mem_infor[0]);
	get_uid(uid);
	printf("GD32F103VKT6 UID=%d%d%d...\r\n",uid[0],uid[1],uid[2]);
	
	ad_da_init();
	
    while(1)
	{
		dsp_test();
		delay_ms(100);
    }
}

测试结果

B站专栏：

[ARM DSP库 PID控制测试 - 哔哩哔哩 (bilibili.com)]()