Embedded control systems library for STM32 microcontrollers. Provides modular discrete-time PID controllers, actuator drivers, and real-time examples built on STM32 using HAL and FreeRTOS
Library consist of:
- PWM output functions
They calculate and set given PWM duty cycle to a timer
How to use:
- Configure timer for PWM output
- Specify channel and PWM duty cycle in percent value [0.0 , 100.0 ] %
The function header is below;
void PWM_set_output(float U_percent, TIM_HandleTypeDef *htim,uint32_t channel)
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PID controller
Features:
- Output saturation (min, max values)
- Anti-windup "clamping" method (optional)
- Adjustable parameters: Kp, Ti and Td value
Demo: PID controller was tested on STM32L476RG Nucleo board and industrial-grade GR63x55 DC Motor.
Figure 1. DC Motor test setup
Figure 2. PID response for Kp = 0.04, Ti = 2.5
Figure 3. PID response for Kp = 0.04, Ti = 0.7