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PID和三环控制-以大疆M3508、M2006为例

三环控制和PID在电机的应用

演示视频在文章末尾

前言：

最近用到了大疆的直流无刷（BLDC）减速电机M3508和M2006。做RoboMaster比赛的同学应该对它们很熟悉，这两款电机质量都不错，配套电调C620、C610功能强大，应用场景广泛。当然价格不算低。

我作为第一次接触电机控制的新手，在搜索PID和三环控制资料的时候常常得到的是一些理论论述，而且千篇一律。虽然PID是较为简单的控制算法，新人上手难度还是有些大。那么我就彻彻底底地回顾一下搭建最简单的电机控制算法的流程。提供一个新的理解视角。

本文依托大疆官方M2006电机例程，其与M3508电机配套例程在CAN通信驱动、PID等核心部分基本相似甚至可以直接替换（M2006例程里的一些文件注释写的是3508）。最大的不同就是M3508使用了FreeRTOS实时系统，这一点并不方便我们的学习。而2006就是裸机前后台，非常简单明晰。

例程均是基于Keil 、STM32F429（我使用407）、HAL库

例程下载：M2006例程、M3508例程

2021/7/23：
第一次接触这两款电机或者CAN通信的朋友可以看第二篇文章：
大疆M3508、M2006必备CAN总线知识与配置方法
2021/10/12：
需要F1版本的可以看下第三篇文章，记录了移植遇到的玄学问题
M3508电机控制程序的F1移植过程
2022/2/2:
ESP32控制大疆电机，CAN总线使用与蓝牙BLE
ESP32:蓝牙BLE控制M3508

0x00 PID到底怎么部署到电机上？

我们都知道PID应用广泛，效果良好，在网上能搜到大量生动形象的文章。这些文章讲述了比例、积分、微分有什么用处和缺陷，什么是死区，并且配有动态曲线图来展示调参效果。但是举的例子往往是这样：一个水缸要固定水位，加水量是输出，反馈是水位之差。我当时看过好多类似文章之后还是不明白怎么把PID应用于更复杂的系统,比如电机控制。

答案是 拆分 复杂系统，运用多次控制算法层层递进

比如在电机上，常用的就是***三环控制***：电流环、速度环、位置环。

三环层层递进并且具有因果关系。

这个关系非常好理解，通过电磁学知识我们知道电机能转是因为有电流产生磁场。所以，电流是电机转动的根本原因，也就是：

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电流
运动

中学物理也讲过，（角）速度是描述运动的物理量，包括方向、大小。如果希望控制速度，比如定速转动，那就也要控制电流。再进一步，运动能改变物体位置，如果想确定达到某个位置那就控制速度。然而控制速度归根结底是控制电流。得出：

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导致
导致
电流
运动
位置

得出结论：如果要控制位置，那就要控速度，如果要控速度，就必须控制电流。

位置环的输出是速度值，速度环的输出是电流值。而他们的反馈（输入）都是电机的实时数据：实时速度，实时位置。

就这样，最末端的电机^ 1反馈出三个值，依次给最外面的位置，中间的速度，里面的电流。形成了三个闭合的环。如下图

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位置环
速度环
电流环
速度值
电流值
转速
转速+位置
位置调节
目标位置值
速度调节
位置
电调
电机
BY:胡小安

不难发现，很多例子像水缸加水和直升机定高，他们都是直接的位置环，输出量是加水的速度和向上飞的升力。没有底层的两环。

接下来我们以M2006例程为例子看一看怎么实现上述过程。

0x01 剖析例程–多少行代码能实现电机控速？

先说明，M3508支持PWM和CAN两种控制方式，其中PWM可以直接控速但是没有数据反馈。M2006仅支持CAN总线。两种电机的总线编码都是从0x200开始，驱动文件bsp_can.c和can.c几乎一样可以替换。

本文仅介绍PID的部署实现，不涉及CAN通信内容。

总结下来，PID就是一个结构体三个函数。

一个结构体PID_TypeDef:

typedef struct _PID_TypeDef
{
	float target;							//目标值
	float kp;								//比例系数
	float ki;								//积分系数
	float kd;								//微分系数
	
	float   measure;						//测量值
	float   err;							//误差
	float   last_err;      	      			//上次误差
	
	float pout;								//比例项
	float iout;								//积分项
	float dout;								//微分项
	
	float output;							//本次输出
	float last_output;						//上次输出
	
	float MaxOutput;						//输出限幅
	float IntegralLimit;					//积分限幅
	float DeadBand;						    //死区（绝对值）
	float  Max_Err;							//最大误差
	

	void (*f_param_init)					//参数初始化				   
	void (*f_pid_reset)						//pid三个参数修改
	float (*f_cal_pid) 						 //pid计算
}PID_TypeDef;

注意：为了简单明晰，我删去了原文件里一些用不到的参数，最后三个函数指针的参数列表也被删除。其中不乏很重要的计算周期，但是在简单的控制下，时间间隔是可以忽略的。

这个结构体的核心就是三个系数，调参调的也就是这三个。

target目标值和output输出值还有measure反馈值，再就是err和last_err两个误差。

其他的一些限幅，和死区[^2]无非就是防止问题发生的补丁。

三个函数：f_param_init、f_pid_reset、f_cal_pid

名副其实，分别是结构体的参数初始化，三个系数修改、最重要的输出值计算。

static float pid_calculate(PID_TypeDef* pid, float measure)
{

	pid->measure = measure;						//目标速度

		
	pid->last_err  = pid->err;					//更新前一次误差
	pid->err = pid->target - pid->measure;		 //计算当前误差
    
    
	pid->last_output = pid->output;
    
	
	if((ABS(pid->err) > pid->DeadBand))		//是否进入死区，如果进入则直接跳过，返回上一次的output结果
	{
        
		pid->pout = pid->kp * pid->err;			
		pid->iout += (pid->ki * pid->err);			//注意是加等于
		pid->dout =  pid->kd * (pid->err - pid->last_err); 
		
        
		//积分是否超出限制
		if(pid->iout > pid->IntegralLimit)
			pid->iout = pid->IntegralLimit;
		if(pid->iout < - pid->IntegralLimit)
			pid->iout = - pid->IntegralLimit;
		
        
		//pid输出和
		pid->output = pid->pout + pid->iout + pid->dout;
		

		//限制输出的大小
		if(pid->output>pid->MaxOutput)         
		{
			pid->output = pid->MaxOutput;
		}
		if(pid->output < -(pid->MaxOutput))
		{
			pid->output = -(pid->MaxOutput);
		}
	
	}
	return pid->output;
}

这是计算函数，我们要把实时测量值measure传入函数，用来更新误差，产生新的输出。

measure是电机发来的速度或者位置数据，在CAN中断函数里自动更新。

在这里我们用误差之差代替微分，并且对积分项和输出结果进行了限幅。这些幅度都是自定义的。

得出流程如下：

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.taskTextOutsideRight.clickable{cursor:pointer;fill:#003163 !important;font-weight:bold}#mermaid-svg-R78Pdv9ugGljgXUX .taskText0,#mermaid-svg-R78Pdv9ugGljgXUX .taskText1,#mermaid-svg-R78Pdv9ugGljgXUX .taskText2,#mermaid-svg-R78Pdv9ugGljgXUX .taskText3{fill:#fff}#mermaid-svg-R78Pdv9ugGljgXUX .task0,#mermaid-svg-R78Pdv9ugGljgXUX .task1,#mermaid-svg-R78Pdv9ugGljgXUX .task2,#mermaid-svg-R78Pdv9ugGljgXUX .task3{fill:#8a90dd;stroke:#534fbc}#mermaid-svg-R78Pdv9ugGljgXUX .taskTextOutside0,#mermaid-svg-R78Pdv9ugGljgXUX .taskTextOutside2{fill:#000}#mermaid-svg-R78Pdv9ugGljgXUX .taskTextOutside1,#mermaid-svg-R78Pdv9ugGljgXUX .taskTextOutside3{fill:#000}#mermaid-svg-R78Pdv9ugGljgXUX .active0,#mermaid-svg-R78Pdv9ugGljgXUX .active1,#mermaid-svg-R78Pdv9ugGljgXUX .active2,#mermaid-svg-R78Pdv9ugGljgXUX .active3{fill:#bfc7ff;stroke:#534fbc}#mermaid-svg-R78Pdv9ugGljgXUX .activeText0,#mermaid-svg-R78Pdv9ugGljgXUX .activeText1,#mermaid-svg-R78Pdv9ugGljgXUX .activeText2,#mermaid-svg-R78Pdv9ugGljgXUX 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#aggregationEnd{fill:#ECECFF;stroke:#9370db;stroke-width:1}#mermaid-svg-R78Pdv9ugGljgXUX #dependencyStart{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-R78Pdv9ugGljgXUX #dependencyEnd{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-R78Pdv9ugGljgXUX #extensionStart{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-R78Pdv9ugGljgXUX #extensionEnd{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-R78Pdv9ugGljgXUX .commit-id,#mermaid-svg-R78Pdv9ugGljgXUX .commit-msg,#mermaid-svg-R78Pdv9ugGljgXUX .branch-label{fill:lightgrey;color:lightgrey;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-R78Pdv9ugGljgXUX .pieTitleText{text-anchor:middle;font-size:25px;fill:#000;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-R78Pdv9ugGljgXUX .slice{font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-R78Pdv9ugGljgXUX g.stateGroup 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:root { --mermaid-font-family: "trebuchet ms", verdana, arial;}
#mermaid-svg-R78Pdv9ugGljgXUX {
color: rgba(0, 0, 0, 0.75);
font: ;
}

人为更新
实时更新
电流值
set_spd
PID_TypeDef
measure
calc计算
电调

0x02 一个小例子

M2006例程相对M3508虽然简单，但还是包括了一些上位机通信控制的代码。

还是简单明晰的原则。下面是一个最最简单的demo框架。

#include "pid.h"
#define NUM_OF_MOTOR 1



PID_TypeDef moto_pid[NUM_OF_MOTOR];
float set_spd;


int main(){
    
    init_all();
    
    for(int i=0;i<NUM_OF_MOTOR;i++){
    	pid_init(&moto_pid[i]);//把结构体里的函数指针赋值，三个函数	
    	moto_pid[i].f_param_init(&moto_pid[i],PID_Speed,16384,5000,10,0,8000,0,1.5,0.1,0);
        //确定结构体内的参数，幅值，死区大小，PID系数
        
    }
    
    
    for(;;){
        
        get_set_spd_from_USART();//从串口得到设定值set_spd
        
        for(int i=0; i<NUM_OF_MOTOR; i++)
   		 {	
     	 motor_pid[i].target = set_spd;	//更新目标值						
      	 motor_pid[i].f_cal_pid(&motor_pid[i],measure[i]);    //PID计算。measure由CAN中断更新
    	  }
        set_moto_current(&hcan1,motor_pid[0].output,   //将PID的计算结果通过CAN发送到电机
                        motor_pid[1].output,
                        motor_pid[2].output,
                        motor_pid[3].output);
        
        HAL_Delay(10);//延时10ms控制周期
    }
    
    return 0;
}

到此为止，一个简单的PID电机控制就做好了。如果写的紧凑一点，代码可能不超过50行，还是非常简单的。

注意事项：

我选用的是F407，带有FPU浮点运算单元的MCU。尽量选择CM4，这样浮点运算会快很多。

实际使用的时候要把Keil的option里面target一栏里floating point Hardware选成Single Precision

演示视频在微信视频号上：扫码查看微信文章底部的视频文章二维码.png

0x03 总结

以上就是最简单的电机控制部署，本着怎么简单怎么来的原则，希望能帮助朋友们节约一些学习时间。

除了官方例程，我还有自己移植的基于F407的版本，去除例程的无用部分，加入了串口的通信解析，可以比较方便的调参，在线修改速度、pid参数等。有需要的可以加微信公众号直接问我要。

关注嵌入式、电机控制的朋友也可以添加公众号，最近会更新有关上位机通信，CAN通信等电机控制相关内容

小安

第二篇：大疆M3508、M2006必备CAN总线知识与配置方法

第三篇：M3508电机控制程序的F1移植过程

第四篇：ESP32:蓝牙BLE控制M3508

大一技术新人，如果发现文中错误请各位大佬不吝赐教，一定指出，如果有意见或建议同样欢迎。谢谢。

欢迎转载，请注明作者与原文地址：https://blog.csdn.net/qq_28039135/article/details/116379392

版权声明：本文为CSDN博主「HuxiaoA」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/qq_28039135/article/details/116379392

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