stm32 关于流量传感器和电磁比例阀的pid控制以及实现代码

以下是使用STM32实现流量传感器和电磁比例阀的PID控制的示例代码：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_tim.h"

// 定义PID参数
#define KP 0.5
#define KI 0.2
#define KD 0.1

// 定义流量传感器输入引脚和定时器
#define FLOW_SENSOR_PIN GPIO_Pin_0
#define FLOW_SENSOR_PORT GPIOA
#define FLOW_SENSOR_RCC RCC_AHB1Periph_GPIOA
#define FLOW_SENSOR_TIM TIM2
#define FLOW_SENSOR_TIM_RCC RCC_APB1Periph_TIM2

// 定义电磁比例阀输出引脚和定时器
#define VALVE_PIN GPIO_Pin_1
#define VALVE_PORT GPIOA
#define VALVE_RCC RCC_AHB1Periph_GPIOA
#define VALVE_TIM TIM3
#define VALVE_TIM_RCC RCC_APB1Periph_TIM3

// 定义PID控制参数
typedef struct {
    float setpoint;
    float input;
    float output;
    float error;
    float last_error;
    float integral;
    float derivative;
} PID;

PID pid;

// 初始化流量传感器
void FlowSensor_Init(void) {
    GPIO_InitTypeDef GPIO_InitStruct;
    TIM_TimeBaseInitTypeDef TIM_InitStruct;

    RCC_AHB1PeriphClockCmd(FLOW_SENSOR_RCC, ENABLE);
    RCC_APB1PeriphClockCmd(FLOW_SENSOR_TIM_RCC, ENABLE);

    GPIO_InitStruct.GPIO_Pin = FLOW_SENSOR_PIN;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(FLOW_SENSOR_PORT, &GPIO_InitStruct);

    GPIO_PinAFConfig(FLOW_SENSOR_PORT, GPIO_PinSource0, GPIO_AF_TIM2);

    TIM_InitStruct.TIM_Prescaler = 0;
    TIM_InitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_InitStruct.TIM_Period = 0xFFFFFFFF;
    TIM_InitStruct.TIM_ClockDivision = 0;
    TIM_TimeBaseInit(FLOW_SENSOR_TIM, &TIM_InitStruct);

    TIM_EncoderInterfaceConfig(FLOW_SENSOR_TIM, TIM_EncoderMode_TI1, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    TIM_SetCounter(FLOW_SENSOR_TIM, 0);
    TIM_Cmd(FLOW_SENSOR_TIM, ENABLE);
}

// 初始化电磁比例阀
void Valve_Init(void) {
    GPIO_InitTypeDef GPIO_InitStruct;
    TIM_TimeBaseInitTypeDef TIM_InitStruct;
    TIM_OCInitTypeDef TIM_OCInitStruct;

    RCC_AHB1PeriphClockCmd(VALVE_RCC, ENABLE);
    RCC_APB1PeriphClockCmd(VALVE_TIM_RCC, ENABLE);

    GPIO_InitStruct.GPIO_Pin = VALVE_PIN;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(VALVE_PORT, &GPIO_InitStruct);

    GPIO_PinAFConfig(VALVE_PORT, GPIO_PinSource1, GPIO_AF_TIM3);

    TIM_InitStruct.TIM_Prescaler = 0;
    TIM_InitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_InitStruct.TIM_Period = 10000;
    TIM_InitStruct.TIM_ClockDivision = 0;
    TIM_TimeBaseInit(VALVE_TIM, &TIM_InitStruct);

    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStruct.TIM_Pulse = 0;
    TIM_OC1Init(VALVE_TIM, &TIM_OCInitStruct);
    TIM_OC1PreloadConfig(VALVE_TIM, TIM_OCPreload_Enable);

    TIM_Cmd(VALVE_TIM, ENABLE);
}

// PID控制
void PID_Control(void) {
    float error = pid.setpoint - pid.input;
    pid.integral += error;
    pid.derivative = error - pid.last_error;
    pid.output = KP * error + KI * pid.integral + KD * pid.derivative;
    pid.last_error = error;

    // 限制输出范围
    if (pid.output > 10000) {
        pid.output = 10000;
    } else if (pid.output < 0) {
        pid.output = 0;
    }

    // 更新电磁比例阀输出
    TIM_SetCompare1(VALVE_TIM, pid.output);
}

int main(void) {
    // 初始化流量传感器和电磁比例阀
    FlowSensor_Init();
    Valve_Init();

    // 设置PID参数
    pid.setpoint = 100;  // 设置目标流量

    while (1) {
        // 读取流量传感器输入
        pid.input = TIM_GetCounter(FLOW_SENSOR_TIM);

        // PID控制
        PID_Control();
    }
}

此示例代码使用TIM2作为流量传感器输入的计数器，TIM3作为电磁比例阀的PWM输出。通过PID控制，根据流量传感器的输入和设定的目标流量，计算出电磁比例阀的输出