电机应用-直流有刷电机多环控制实现

目录

直流有刷电机多环控制实现

硬件设计

直流电机三环（速度环、电流环、位置环）串级PID控制-位置式PID

编程要点

配置ADC可读取电流值

配置基本定时器6产生定时中断读取当前电路中驱动电机的电流值并执行PID运算

配置定时器1输出PWM控制电机

配置定时器3读取编码器的计数值

ADC数据处理

编写位置式PID算法

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直流有刷电机多环控制实现

外环的输出会作为内环的输入。外环一般是最终要控制的效果， 

硬件设计

可选：L298N电机驱动板、野火MOS搭建的驱动板。

直流电机三环（速度环、电流环、位置环）串级PID控制-位置式PID

编程要点

配置ADC可读取电流值。

配置基本定时器TIM6产生定时中断执行PID运算。

配置高级定时器TIM1输出PWM控制电机。

配置通用定时器TIM3读取编码器的计数值。

ADC数据处理。

编写位置式PID算法。

编写位置环、速度环、电流环控制函数。

增加上位机曲线观察相关代码。

编写按键控制代码。

配置ADC可读取电流值

#define VBUS_MAX      		14    // 电压最大值
#define VBUS_MIN      		10    // 电压最小值#define VBUS_HEX_MAX  		((VBUS_MAX/37.0+1.24)/VREF*65536)    // 电压最大值（测量电压是电源电压的1/37）
#define VBUS_HEX_MIN  		((VBUS_MIN/37.0+1.24)/VREF*65536)    // 电压最小值（测量电压是电源电压的1/37）__IO uint16_t ADC_ConvertedValue;
DMA_HandleTypeDef DMA_Init_Handle;
ADC_HandleTypeDef ADC_Handle;static uint16_t adc_buff[1024];
static uint16_t vbus_adc_mean = 0;  	// 电源电压 ADC 采样结果平均值
static uint32_t adc_mean_sum = 0;   	// 平均值累加
static uint32_t adc_mean_count = 0; 	// 累加计数/*** @brief  电流采集初始化* @param  无* @retval 无*/
void ADC_Init(void)
{GPIO_InitTypeDef GPIO_InitStructure;__GPIOB_CLK_ENABLE();__DMA2_CLK_ENABLE();__ADC1_CLK_ENABLE();// PB1--电流GPIO_InitStructure.Pin = GPIO_PIN_1;GPIO_InitStructure.Mode = GPIO_MODE_ANALOG;GPIO_InitStructure.Pull = GPIO_NOPULL;HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);// PB0--电压GPIO_InitStructure.Pin = GPIO_PIN_0;HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);// ADC1使用DMA2，数据流0，通道0，这个是手册固定死的DMA_Init_Handle.Instance 					= DMA2_Stream0;DMA_Init_Handle.Init.Direction 				= DMA_PERIPH_TO_MEMORY;DMA_Init_Handle.Init.PeriphInc 				= DMA_PINC_DISABLE;DMA_Init_Handle.Init.MemInc 				= DMA_MINC_ENABLE;DMA_Init_Handle.Init.PeriphDataAlignment 	= DMA_PDATAALIGN_HALFWORD;DMA_Init_Handle.Init.MemDataAlignment 		= DMA_MDATAALIGN_HALFWORD;DMA_Init_Handle.Init.Mode 					= DMA_CIRCULAR;DMA_Init_Handle.Init.Priority 				= DMA_PRIORITY_HIGH;DMA_Init_Handle.Init.FIFOMode 				= DMA_FIFOMODE_DISABLE;DMA_Init_Handle.Init.FIFOThreshold 			= DMA_FIFO_THRESHOLD_HALFFULL;DMA_Init_Handle.Init.MemBurst 				= DMA_MBURST_SINGLE;DMA_Init_Handle.Init.PeriphBurst 			= DMA_PBURST_SINGLE;// 选择 DMA 通道，通道存在于流中DMA_Init_Handle.Init.Channel 				= DMA_CHANNEL_0;//初始化DMA流，流相当于一个大的管道，管道里面有很多通道HAL_DMA_Init(&DMA_Init_Handle);__HAL_LINKDMA(&ADC_Handle, DMA_Handle, DMA_Init_Handle);ADC_Handle.Instance 					= ADC1;ADC_Handle.Init.ClockPrescaler 			= ADC_CLOCKPRESCALER_PCLK_DIV4;ADC_Handle.Init.Resolution 				= ADC_RESOLUTION_12B;ADC_Handle.Init.ScanConvMode 			= ENABLE;ADC_Handle.Init.ContinuousConvMode 		= ENABLE;ADC_Handle.Init.DiscontinuousConvMode 	= DISABLE;ADC_Handle.Init.NbrOfDiscConversion   	= 0;ADC_Handle.Init.ExternalTrigConvEdge 	= ADC_EXTERNALTRIGCONVEDGE_NONE;ADC_Handle.Init.ExternalTrigConv 		= ADC_SOFTWARE_START;ADC_Handle.Init.DataAlign 				= ADC_DATAALIGN_LEFT;ADC_Handle.Init.NbrOfConversion 		= 2;ADC_Handle.Init.DMAContinuousRequests 	= ENABLE;ADC_Handle.Init.EOCSelection          	= ADC_EOC_SINGLE_CONV;HAL_ADC_Init(&ADC_Handle);ADC_ChannelConfTypeDef ADC_Config;ADC_Config.Channel      = ADC_CHANNEL_9;ADC_Config.Rank         = 1;ADC_Config.SamplingTime = ADC_SAMPLETIME_3CYCLES;ADC_Config.Offset       = 0;HAL_ADC_ConfigChannel(&ADC_Handle, &ADC_Config);/** Configure the analog watchdog*/ADC_AnalogWDGConfTypeDef AnalogWDGConfig = {0};AnalogWDGConfig.WatchdogMode 	= ADC_ANALOGWATCHDOG_SINGLE_REG;AnalogWDGConfig.HighThreshold 	= VBUS_HEX_MAX;AnalogWDGConfig.LowThreshold 	= VBUS_HEX_MIN;AnalogWDGConfig.Channel 		= ADC_CHANNEL_8;AnalogWDGConfig.ITMode 			= ENABLE;if (HAL_ADC_AnalogWDGConfig(&ADC_Handle, &AnalogWDGConfig) != HAL_OK){while (1);}/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.*/ADC_Config.Channel 		= ADC_CHANNEL_8;ADC_Config.Rank 		= 2;ADC_Config.SamplingTime = ADC_SAMPLETIME_3CYCLES;ADC_Config.Offset       = 0;if (HAL_ADC_ConfigChannel(&ADC_Handle, &ADC_Config) != HAL_OK){while (1);}// 外设中断优先级配置和使能中断配置HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 4, 0);HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);HAL_NVIC_SetPriority(ADC_IRQn, 3, 0);HAL_NVIC_EnableIRQ(ADC_IRQn);HAL_ADC_Start_DMA(&ADC_Handle, (uint32_t *)&adc_buff, 1024);
}

配置基本定时器6产生定时中断读取当前电路中驱动电机的电流值并执行PID运算

TIM_HandleTypeDef TIM_TimeBaseStructure;/*** @brief  初始化基本定时器定时，默认50ms产生一次中断* @param  无* @retval 无*/
void TIMx_Configuration(void)
{HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 1, 3);HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);__TIM6_CLK_ENABLE();TIM_TimeBaseStructure.Instance = TIM6;TIM_TimeBaseStructure.Init.Period = 50 * 50 - 1;TIM_TimeBaseStructure.Init.Prescaler = 1680 - 1;TIM_TimeBaseStructure.Init.CounterMode = TIM_COUNTERMODE_UP;TIM_TimeBaseStructure.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;HAL_TIM_Base_Init(&TIM_TimeBaseStructure);// 开启定时器更新中断HAL_TIM_Base_Start_IT(&TIM_TimeBaseStructure);uint32_t temp = (__HAL_TIM_GET_AUTORELOAD(&TIM_TimeBaseStructure) + 1) / 50.0;  // 计算周期，单位msset_computer_value(SEND_PERIOD_CMD, CURVES_CH1, &temp, 1);  					// 给通道 1 发送目标值
}/*** @brief  定时器更新事件回调函数* @param  无* @retval 无*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{if (htim == (&TIM_TimeBaseStructure)){motor_pid_control();	// 每50ms执行一次PID运算}
}

配置定时器1输出PWM控制电机

TIM_HandleTypeDef  DCM_TimeBaseStructure;/*** @brief  初始化控制通用定时器* @param  无* @retval 无*/
void Motor_TIMx_Configuration(void)
{GPIO_InitTypeDef GPIO_InitStruct;TIM_OC_InitTypeDef  TIM_OCInitStructure;__HAL_RCC_GPIOA_CLK_ENABLE();__TIM1_CLK_ENABLE();// PA8--PWM_TIM_CH1GPIO_InitStruct.Pin 		= GPIO_PIN_8;GPIO_InitStruct.Mode 		= GPIO_MODE_AF_PP;GPIO_InitStruct.Speed 		= GPIO_SPEED_FREQ_HIGH;GPIO_InitStruct.Alternate 	= PWM_TIM_GPIO_AF;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);// PA9--PWM_TIM_CH2GPIO_InitStruct.Pin 		= GPIO_PIN_9;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);// TIM1 66.7us一次周期DCM_TimeBaseStructure.Instance = TIM1;DCM_TimeBaseStructure.Init.Period = 5600 - 1;DCM_TimeBaseStructure.Init.Prescaler = 1 - 1;DCM_TimeBaseStructure.Init.CounterMode = TIM_COUNTERMODE_UP;DCM_TimeBaseStructure.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;HAL_TIM_PWM_Init(&DCM_TimeBaseStructure);/*PWM模式配置*/TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;TIM_OCInitStructure.Pulse = 0;TIM_OCInitStructure.OCPolarity = TIM_OCPOLARITY_HIGH;TIM_OCInitStructure.OCNPolarity = TIM_OCNPOLARITY_HIGH;TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_SET;TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;/*配置PWM通道*/HAL_TIM_PWM_ConfigChannel(&DCM_TimeBaseStructure, &TIM_OCInitStructure, TIM_CHANNEL_1);/*开始输出PWM*/HAL_TIM_PWM_Start(&DCM_TimeBaseStructure, TIM_CHANNEL_1);/*配置PWM通道*/HAL_TIM_PWM_ConfigChannel(&DCM_TimeBaseStructure, &TIM_OCInitStructure, TIM_CHANNEL_2);/*开始输出PWM*/HAL_TIM_PWM_Start(&DCM_TimeBaseStructure, TIM_CHANNEL_2);
}/*** @brief  设置TIM通道的占空比* @param  channel		通道	（1,2,3,4）* @param  compare		占空比*	@note 	无* @retval 无*/
void TIM1_SetPWM_pulse(uint32_t channel, int compare)
{switch (channel){case TIM_CHANNEL_1:__HAL_TIM_SET_COMPARE(&DCM_TimeBaseStructure, TIM_CHANNEL_1, compare);break;case TIM_CHANNEL_2:__HAL_TIM_SET_COMPARE(&DCM_TimeBaseStructure, TIM_CHANNEL_2, compare);break;case TIM_CHANNEL_3:__HAL_TIM_SET_COMPARE(&DCM_TimeBaseStructure, TIM_CHANNEL_3, compare);break;case TIM_CHANNEL_4:__HAL_TIM_SET_COMPARE(&DCM_TimeBaseStructure, TIM_CHANNEL_4, compare);break;}
}

配置定时器3读取编码器的计数值

TIM_HandleTypeDef  DCM_TimeBaseStructure;/*** @brief  初始化控制通用定时器* @param  无* @retval 无*/
void Motor_TIMx_Configuration(void)
{GPIO_InitTypeDef GPIO_InitStruct;TIM_OC_InitTypeDef  TIM_OCInitStructure;__HAL_RCC_GPIOA_CLK_ENABLE();__TIM1_CLK_ENABLE();// PA8--PWM_TIM_CH1GPIO_InitStruct.Pin 		= GPIO_PIN_8;GPIO_InitStruct.Mode 		= GPIO_MODE_AF_PP;GPIO_InitStruct.Speed 		= GPIO_SPEED_FREQ_HIGH;GPIO_InitStruct.Alternate 	= PWM_TIM_GPIO_AF;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);// PA9--PWM_TIM_CH2GPIO_InitStruct.Pin 		= GPIO_PIN_9;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);// TIM1 66.7us一次周期DCM_TimeBaseStructure.Instance = TIM1;DCM_TimeBaseStructure.Init.Period = 5600 - 1;DCM_TimeBaseStructure.Init.Prescaler = 1 - 1;DCM_TimeBaseStructure.Init.CounterMode = TIM_COUNTERMODE_UP;DCM_TimeBaseStructure.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;HAL_TIM_PWM_Init(&DCM_TimeBaseStructure);/*PWM模式配置*/TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;TIM_OCInitStructure.Pulse = 0;TIM_OCInitStructure.OCPolarity = TIM_OCPOLARITY_HIGH;TIM_OCInitStructure.OCNPolarity = TIM_OCNPOLARITY_HIGH;TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_SET;TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;/*配置PWM通道*/HAL_TIM_PWM_ConfigChannel(&DCM_TimeBaseStructure, &TIM_OCInitStructure, TIM_CHANNEL_1);/*开始输出PWM*/HAL_TIM_PWM_Start(&DCM_TimeBaseStructure, TIM_CHANNEL_1);/*配置PWM通道*/HAL_TIM_PWM_ConfigChannel(&DCM_TimeBaseStructure, &TIM_OCInitStructure, TIM_CHANNEL_2);/*开始输出PWM*/HAL_TIM_PWM_Start(&DCM_TimeBaseStructure, TIM_CHANNEL_2);
}/*** @brief  定时器更新事件回调函数* @param  无* @retval 无*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{if (htim == (&TIM_EncoderHandle)){/* 判断当前计数器计数方向 */if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&TIM_EncoderHandle))/* 下溢 */{Encoder_Overflow_Count--;}else/* 上溢 */{Encoder_Overflow_Count++;}}
}

ADC数据处理

static uint16_t flag_num = 0;
/*** @brief  常规转换在非阻塞模式下完成回调* @param  hadc: ADC  句柄.* @retval 无*/
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
{uint32_t adc_mean = 0;HAL_ADC_Stop_DMA(hadc);       // 停止 ADC 采样，处理完一次数据在继续采样/* 计算电流通道采样的平均值 */for (uint32_t count = 0; count < 1024; count += 2){adc_mean += (uint32_t)adc_buff[count];}adc_mean_sum += adc_mean / (1024 / 2);    // 保存平均值adc_mean_count++;adc_mean = 0;/* 计算电压通道采样的平均值 */for (uint32_t count = 1; count < 1024; count += 2){adc_mean += (uint32_t)adc_buff[count];}vbus_adc_mean = adc_mean / (1024 / 2);    // 保存平均值HAL_ADC_Start_DMA(&ADC_Handle, (uint32_t *)&adc_buff, 1024); // 开始 ADC 采样
}/*** @brief  在非阻塞模式模拟看门狗回调* @param  hadc: ADC  句柄.* @retval 无*/
void HAL_ADC_LevelOutOfWindowCallback(ADC_HandleTypeDef *hadc)
{float temp_adc;flag_num++;     	// 电源电压超过阈值电压temp_adc = get_vbus_val();if (temp_adc > VBUS_MIN && temp_adc < VBUS_MAX){flag_num = 0;}if (flag_num > 10) 	// 电源电压超过阈值电压10次{set_motor_disable();flag_num = 0;printf("电源电压超过限制！请检查原因，复位开发板在试！\r\n");while (1);}
}/*** @brief  获取电流值（应定时调用）* @param  无* @retval 转换得到的电流值*/
int32_t get_curr_val(void)
{static uint8_t flag = 0;static uint32_t adc_offset = 0;    				// 偏置电压int16_t curr_adc_mean = 0;         				// 电流 ACD 采样结果平均值curr_adc_mean = adc_mean_sum / adc_mean_count;  // 保存平均值adc_mean_count = 0;adc_mean_sum = 0;if (flag < 17 && is_motor_en == 0)				//	仅在电机未启动时记录{adc_offset = curr_adc_mean;    				// 多次记录偏置电压，待系统稳定偏置电压才为有效值flag += 1;}if (curr_adc_mean >= adc_offset){curr_adc_mean -= adc_offset;                // 减去偏置电压}else{curr_adc_mean = 0;}float vdc = (float)curr_adc_mean/(float)65536 * 3.3f;	// 获取电压值return (float)vdc / 8.0f / 0.02f * 1000.0f;
}/*** @brief  获取电源电压值* @param  无* @retval 转换得到的电流值*/
float get_vbus_val(void)
{float vdc = (float)vbus_adc_mean/(float)65536 * 3.3f;	// 获取电压值return ((float)vdc - (float)1.24) * (float)37.0;		// 电源电压值（测量电压是电源电压的1/37）
}

编写位置式PID算法

typedef struct
{float target_val;	// 目标值float actual_val;	// 实际值float err;       	// 定义偏差值float err_last;  	// 定义上一个偏差值float Kp,Ki,Kd;  	// 定义比例、积分、微分系数float integral;  	// 定义积分值
}_pid;
_pid pid_location;		// 位置环控制
_pid pid_curr;			// 电流环控制
_pid pid_speed;			// 速度环控制/*** @brief  PID参数初始化*	@note 	无* @retval 无*/
void PID_param_init(void)
{/* 位置相关初始化参数 */pid_location.target_val = 0.0;pid_location.actual_val = 0.0;pid_location.err 		= 0.0;pid_location.err_last 	= 0.0;pid_location.integral 	= 0.0;pid_location.Kp 		= 0.011;pid_location.Ki 		= 0.0018;pid_location.Kd 		= 0.0;/* 速度相关初始化参数 */pid_speed.target_val 	= 100.0;pid_speed.actual_val 	= 0.0;pid_speed.err 			= 0.0;pid_speed.err_last 		= 0.0;pid_speed.integral 		= 0.0;pid_speed.Kp 			= 2.0;pid_speed.Ki 			= 0.02;pid_speed.Kd 			= 0.00;/* 电流相关初始化参数 */pid_curr.target_val 	= 80.0;pid_curr.actual_val 	= 0.0;pid_curr.err 			= 0.0;pid_curr.err_last 		= 0.0;pid_curr.integral 		= 0.0;pid_curr.Kp 			= 0.0;pid_curr.Ki 			= 3.5;pid_curr.Kd 			= 0.00;float pid_temp[3] = {pid_location.Kp, pid_location.Ki, pid_location.Kd};set_computer_value(SEND_P_I_D_CMD, CURVES_CH1, pid_temp, 3);     // 给通道 1 发送 P I D 值pid_temp[0] = pid_speed.Kp;pid_temp[1] = pid_speed.Ki;pid_temp[2] = pid_speed.Kd;set_computer_value(SEND_P_I_D_CMD, CURVES_CH2, pid_temp, 3);     // 给通道 2 发送 P I D 值pid_temp[0] = pid_curr.Kp;pid_temp[1] = pid_curr.Ki;pid_temp[2] = pid_curr.Kd;set_computer_value(SEND_P_I_D_CMD, CURVES_CH3, pid_temp, 3);     // 给通道 3 发送 P I D 值
}/*** @brief  设置目标值* @param  val		目标值*	@note 	无* @retval 无*/
void set_pid_target(_pid *pid, float temp_val)
{pid->target_val = temp_val;    // 设置当前的目标值
}/*** @brief  获取目标值* @param  无*	@note 	无* @retval 目标值*/
float get_pid_target(_pid *pid)
{return pid->target_val;    // 设置当前的目标值
}/*** @brief  设置比例、积分、微分系数* @param  p：比例系数 P* @param  i：积分系数 i* @param  d：微分系数 d*	@note 	无* @retval 无*/
void set_p_i_d(_pid *pid, float p, float i, float d)
{pid->Kp = p;    // 设置比例系数 Ppid->Ki = i;    // 设置积分系数 Ipid->Kd = d;    // 设置微分系数 D
}/*** @brief  位置环位置式PID算法实现* @param  actual_val:实际值*	@note 	无* @retval 通过PID计算后的输出*/
float location_pid_realize(_pid *pid, float actual_val)
{/*计算目标值与实际值的误差*/pid->err = pid->target_val - actual_val;/* 限定闭环死区 */if ((pid->err >= -40) && (pid->err <= 40)){pid->err = 0;pid->integral = 0;}/* 积分分离，偏差较大时去掉积分作用 */if (pid->err > -1500 && pid->err < 1500){pid->integral += pid->err;    // 误差累积/* 限定积分范围，防止积分饱和 */if (pid->integral > 4000){pid->integral = 4000;}else if (pid->integral < -4000){pid->integral = -4000;}}/*PID算法实现*/pid->actual_val = pid->Kp * pid->err + pid->Ki * pid->integral + pid->Kd * (pid->err - pid->err_last);/*误差传递*/pid->err_last = pid->err;/*返回当前实际值*/return pid->actual_val;
}/*** @brief  速度环位置式PID算法实现* @param  actual_val:实际值*	@note 	无* @retval 通过PID计算后的输出*/
float speed_pid_realize(_pid *pid, float actual_val)
{/*计算目标值与实际值的误差*/pid->err = pid->target_val - actual_val;if ((pid->err < 0.2f) && (pid->err > -0.2f)){pid->err = 0.0f;}pid->integral += pid->err;    // 误差累积/*PID算法实现*/pid->actual_val = pid->Kp * pid->err + pid->Ki * pid->integral + pid->Kd * (pid->err - pid->err_last);/*误差传递*/pid->err_last = pid->err;/*返回当前实际值*/return pid->actual_val;
}/*** @brief  电流环位置式PID算法实现* @param  actual_val:实际值*	@note 	无* @retval 通过PID计算后的输出*/
float curr_pid_realize(_pid *pid, float actual_val)
{/*计算目标值与实际值的误差*/pid->err = pid->target_val - actual_val;pid->integral += pid->err;    // 误差累积/* 限定积分范围，防止积分饱和 */if (pid->integral > 2000){pid->integral = 2000;}else if (pid->integral < -2000){pid->integral = -2000;}/*PID算法实现*/pid->actual_val = pid->Kp * pid->err + pid->Ki * pid->integral + pid->Kd * (pid->err - pid->err_last);/*误差传递*/pid->err_last = pid->err;/*返回当前实际值*/return pid->actual_val;
}#define TARGET_CURRENT_MAX    200    // 目标电流的最大值 mA
#define TARGET_SPEED_MAX      200    // 目标速度的最大值 r/m/*** @brief  电机位置式 PID 控制实现(定时调用)* @param  无* @retval 无*/
void motor_pid_control(void)
{static uint32_t louter_ring_timer = 0;      // 外环环周期（电流环计算周期为定时器周期T，速度环为2T，位置环为3T）int32_t actual_current = get_curr_val();    // 读取当前电流值if (actual_current > TARGET_CURRENT_MAX){actual_current = TARGET_CURRENT_MAX;}if (is_motor_en == 1)                  		// 电机在使能状态下才进行控制处理{static int32_t Capture_Count = 0;    	// 当前时刻总计数值static int32_t Last_Count = 0;       	// 上一时刻总计数值float cont_val = 0;                  	// 当前控制值/* 当前时刻总计数值 = 计数器值 + 计数溢出次数 * ENCODER_TIM_PERIOD  */Capture_Count = __HAL_TIM_GET_COUNTER(&TIM_EncoderHandle) + (Encoder_Overflow_Count * 65535);/* 位置环计算 */if (louter_ring_timer++ % 3 == 0){cont_val = location_pid_realize(&pid_location, Capture_Count);    // 进行 PID 计算/* 目标速度上限处理 */if (cont_val > TARGET_SPEED_MAX){cont_val = TARGET_SPEED_MAX;}else if (cont_val < -TARGET_SPEED_MAX){cont_val = -TARGET_SPEED_MAX;}set_pid_target(&pid_speed, cont_val);    // 设定速度的目标值int32_t temp = cont_val;set_computer_value(SEND_TARGET_CMD, CURVES_CH2, &temp, 1);     // 给通道 2 发送目标值}/* 速度环计算 */static int32_t actual_speed = 0;             // 实际测得速度if (louter_ring_timer % 2 == 0){/* 转轴转速 = 单位时间内的计数值 / 编码器总分辨率 * 时间系数  */actual_speed = ((float)(Capture_Count - Last_Count) / 16 * 4 / 30) / (GET_BASIC_TIM_PERIOD() * 2 / 1000.0 / 60.0);/* 记录当前总计数值，供下一时刻计算使用 */Last_Count = Capture_Count;cont_val = speed_pid_realize(&pid_speed, actual_speed);    		// 进行 PID 计算if (cont_val > 0)    					// 判断电机方向{set_motor_direction(MOTOR_FWD);}else{cont_val = -cont_val;set_motor_direction(MOTOR_REV);}cont_val = (cont_val > TARGET_CURRENT_MAX) ? TARGET_CURRENT_MAX : cont_val;    // 电流上限处理set_pid_target(&pid_curr, cont_val);    						// 设定电流的目标值int32_t temp = cont_val;set_computer_value(SEND_TARGET_CMD, CURVES_CH3, &temp, 1);     	// 给通道 3 发送目标值}/* 电流环计算 */cont_val = curr_pid_realize(&pid_curr, actual_current);    			// 进行 PID 计算if (cont_val < 0){cont_val = 0;    	// 下限处理}else if (cont_val > 5500){cont_val = 5500;	// 速度上限处理}set_motor_speed(cont_val);                                                 // 设置 PWM 占空比set_computer_value(SEND_FACT_CMD, CURVES_CH1, &Capture_Count,  1);         // 给通道 1 发送实际值}
}