TMS320F28335: PID不稳定。一直在晃

haotian zhao

Part Number: TMS320F28335
Other Parts Discussed in Thread: CONTROLSUITE

    for(;;)
    {
        while(AdcRegs.ADCST.bit.INT_SEQ1==0);
                      AdcRegs.ADCST.bit.INT_SEQ1_CLR=1;
                             U1=(AdcRegs.ADCRESULT0>>4)*3.3/4096*24.3;
                             U2=(AdcRegs.ADCRESULT1>>4)*3.3/4096*24;
                          //   OLED_ShowString(15,0,"Vo:",16);
                            // OLED_ShowString(15,3,"Vi:",16);
                            // OLED_ShowNum(40,0,U2,2,2,20);
                            // OLED_ShowNum(40,3,U1,2,2,20);//(行，列，显示物，小数点前几位，小数点后几位，字体大小)
                             //PID_control(15,20);
                             Un1=PID_control(15,20);
                             ///if(Un1>270)Un1=270;
                           //  if(Un1<5)Un1=5;

                             EPwm1Regs.CMPA.half.CMPA=270;
                             OLED_ShowNum(40,3,Un1,3,2,20);//(行，列，显示物，小数点前几位，小数点后几位，字体大小 )
    }主函数

void PID(void)
{
    pid.KP=1;
    pid.KI=0;
    pid.KD =0.5;
}
float PID_control(float adc,float set)
{
float Inck=0.0;
pid.error = set - adc;
Inck = pid.KP*(pid.error - pid.error_1)+pid.KI*pid.error
        +pid.KD*(pid.error-2*pid.error_1+pid.error_2);
pid.error_2 = pid.error_1;
pid.error_1 = pid.error;
pid.dacout =  Inck;



return pid.dacout;
}PID

上面是函数，功能是adc处理采样信号，经过处理送给epwm的cmpa处来改变epwm的占空比，但pid控制的epwm跳变非常大，我想让它稳定下来，求教。

#include"bsp_pwm.h"
#include "DSP28x_Project.h"


void epwm1_gpio()
{
      EALLOW;

      GpioCtrlRegs.GPAMUX1.bit.GPIO0=1;//复用IO模式
      GpioCtrlRegs.GPAMUX1.bit.GPIO1=1;
      EDIS;
}

void epwm2_gpio()
{
    EALLOW;
    GpioCtrlRegs.GPAMUX1.bit.GPIO2=1;//复用IO模式
    GpioCtrlRegs.GPAMUX1.bit.GPIO3=1;
    EDIS;
}
void epwm1_init()
{
    EPwm1Regs.TBPRD=375;//f=TBPRDx1/时钟频率
    EPwm1Regs.TBPHS.half.TBPHS=0;
    EPwm1Regs.TBCTR=0x000;

    EPwm1Regs.CMPA.half.CMPA=375;
    EPwm1Regs.CMPB=375;

    EPwm1Regs.TBCTL.bit.CLKDIV=1;
    EPwm1Regs.TBCTL.bit.HSPCLKDIV=1;
    EPwm1Regs.TBCTL.bit.PHSEN=0;
    EPwm1Regs.TBCTL.bit.CTRMODE=TB_COUNT_UPDOWN;
    EPwm1Regs.TBCTL.bit.PRDLD=0;
   // EPwm1Regs.TBCTL.bit.SYNCOSEL=1;

    EPwm1Regs.CMPCTL.bit.SHDWAMODE= 0;
    EPwm1Regs.CMPCTL.bit.SHDWBMODE= 0;
    EPwm1Regs.CMPCTL.bit.LOADAMODE= 0;
    EPwm1Regs.CMPCTL.bit.LOADBMODE= 0;



    EPwm1Regs.AQCTLA.bit.CAU=1;
    EPwm1Regs.AQCTLA.bit.CAD=2;
    EPwm1Regs.AQCTLB.bit.CAU=1;
    EPwm1Regs.AQCTLB.bit.CAD=2;

    EPwm1Regs.ETSEL.bit.INTEN=  1;
    EPwm1Regs.ETSEL.bit.INTSEL= 2;
    EPwm1Regs.ETSEL.bit.SOCAEN=1;
    EPwm1Regs.ETSEL.bit.SOCASEL=4;

    EPwm1Regs.ETPS.bit.INTPRD=  1;

    EPwm1Regs.DBCTL.bit.IN_MODE=0;
    EPwm1Regs.DBCTL.bit.OUT_MODE=3;
    EPwm1Regs.DBCTL.bit.POLSEL=2;
    EPwm1Regs.DBRED = 100;
    EPwm1Regs.DBFED = 100;
}
//epwm

4 年多前