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PID-Controller für Stromregelung

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Carsten Keller 2024-06-09 17:57:49 +02:00
parent af2a74390a
commit 17cdb8ca93
Signed by: carsten
GPG Key ID: DF06343A3A9B8868
1 changed files with 43 additions and 1 deletions
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Source/ElektronischeLast.cpp
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@ -7,29 +7,71 @@
#include <cstdint> #include <cstdint>
#include <cstdio> #include <cstdio>
#include <cinttypes>
#include <stm32g0xx.h> #include <stm32g0xx.h>
#include "STM32G071KBT6.hpp" #include "STM32G071KBT6.hpp"
#include "LED.hpp" #include "LED.hpp"
#include "DAC.hpp" #include "DAC.hpp"
#include "ADC.hpp" #include "ADC.hpp"
#include "serial.hpp" #include "serial.hpp"
#include "PID.h"
using namespace ElektronischeLast; using namespace ElektronischeLast;
static std::uint32_t i_soll = 0U;
static PIDController pid =
{
.Kp = 0.75f,
.Ki = 10.0f,
.Kd = 0.0f,
.limMin = 0.0f,
.limMax = 4095.0f,
.limMinInt = 0.0f,
.limMaxInt = 2048.0f,
.T = 0.001f,
};
static uint32_t dac_value;
static struct
{
uint32_t current_min;
uint32_t current_max;
} current_spitze;
static struct
{
uint32_t voltage_min;
uint32_t voltage_max;
} voltage_spitze;
int main (void) int main (void)
{ {
__enable_irq(); __enable_irq();
serial_init(); serial_init();
LED led = LED(500U); LED led = LED(500U);
iDAC dac = iDAC(); iDAC dac = iDAC();
iADC adc = iADC(); iADC adc = iADC();
std::uint32_t last_tick = systick;
printf("\r\nElektronische Last\r\n"); printf("\r\nElektronische Last\r\n");
printf("- Initialisierung erfolgreich\r\n"); printf("- Initialisierung erfolgreich\r\n");
PIDController_Init(&pid);
while(1) while(1)
{ {
led.blink(); led.blink();
dac.write(iDAC::CHANNEL_1, adc.get_current());
if(last_tick != systick)
{
last_tick = systick;
uint32_t tmp = adc.get_current();
if(tmp > current_spitze.current_max) current_spitze.current_max = tmp;
if(tmp < current_spitze.current_min) current_spitze.current_min = tmp;
tmp = adc.get_voltage();
if(tmp > voltage_spitze.voltage_max) voltage_spitze.voltage_max = tmp;
if(tmp < voltage_spitze.voltage_min) voltage_spitze.voltage_min = tmp;
dac_value = (uint32_t)PIDController_Update(&pid, i_soll, adc.get_current());
dac.write(iDAC::CHANNEL_1, dac_value);
}
} }
} }