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蝴蝶豆191
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- 2024-1-26
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实验3:基于MC SDK5.0 PI组件接口函数做在线参数修改。
1、实验内容:
2、程序修改;
在生成的源码上修改,内容如下:
main.c内容修改:
程序的顶部增加mc_extended_api.h头文件。
/* USER CODE BEGIN Includes */
#include "mc_extended_api.h"
/* USER CODE END Includes */
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
MCT_Handle_t *pMctHdl; //定义的变量
static int16_t Speed_Kp,Speed_Ki;
/* USER CODE END PV */
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC1_Init();
MX_DAC_Init();
MX_TIM1_Init();
MX_USART2_UART_Init();
MX_MotorControl_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
pMctHdl = GetMCT(M1);
Speed_Kp= PID_GetKP(pMctHdl->pPIDSpeed);
Speed_Ki= PID_GetKI(pMctHdl->pPIDSpeed);
PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*2);
PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*2);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
3、程序执行的结果:
3.1、原始PID数据
PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*1);
PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*1);
3.2、2倍PID数据
PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*2);
PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*2);
3.3、0.5倍PID数据
PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*0.5);
PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*0.5);
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