stm32 利用PID调整PWM值

增量式
float SpeedInnerControl(char k,int temp)
{	
    PIDpulse_add[k] = Kp * (temp - Error_Last[k]) + 									
            Ki * temp +																		
            Kd * (temp - 2.0 * Error_Last[k] + Error_Prev[k]);	//这个位置减去2.0是通式增量式pid都需要减去这个2.0
    
    PIDpulse[k] += PIDpulse_add[k];		//增量PID
    
    Error_Prev[k] = Error_Last[k];//	Error_Prev上上次误差
    Error_Last[k] = temp;	//Error_Last上次误差
    
    if(PIDpulse[k] <  0  ) PIDpulse[k] = -PIDpulse[k];
    if(PIDpulse[k] > 7200) PIDpulse[k] = 7200;
    printf("Error_Prev[%d]=%d\r\n",k,Error_Prev[k]);
    printf("Error_Last[%d]=%d\r\n",k,Error_Last[k]);
    printf("temp=%d\r\n",temp);
    printf("PIDpulse[%d]=%d\r\n",k,PIDpulse[k]);
    
    return PIDpulse[k];	
}
位置式
int SpeedInnerControl_pos(char k, int temp)
{		
    //printf("SpeedInnerControl_pos!\r\n");
    sum_temp[k]+=temp;
    PIDpulse[k] = Kp * temp + 									
            Ki * sum_temp[k] +																		
            Kd * (temp -  Error_Last[k]);	//
    //PIDpulse[k] =5000;
    Error_Last[k] = temp;	//Error_Last上次误差
    
    if(PIDpulse[k] <  0  ) PIDpulse[k] = -PIDpulse[k];
    if(PIDpulse[k] > 7200 ) PIDpulse[k] = 7200;
    printf("sum_temp[%d]=%d\r\n",k,sum_temp[k]);
    printf("temp=%d\r\n",temp);
    printf("PIDpulse[%d]=%d\r\n",k,PIDpulse[k]);
    return PIDpulse[k];
}
void RefreshPWM(char k,int temp)//计算并刷新PWM
{
    
    if(0==k)
    { 
        PID_POS[k]=SpeedInnerControl_pos(k,temp);     //PA8
        printf("PID_POS[%d]=%d\r\n",k,PID_POS[k]);
        TIM_SetCompare1(TIM1,PID_POS[k]);	
    }
    
    if(1==k)
    {
        PID_POS[k]=SpeedInnerControl_pos(k,temp);    PA11
        printf("PID_POS[%d]=%d\r\n",k,PID_POS[k]);
        TIM_SetCompare4(TIM1,PID_POS[k]);	
      
    }
}