基于STM32F103C8的DLQR控制算法的C编程

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关键词：STM32F103C8；DLQR；双线性变换；动态黎卡提方程；CMSIS-DSP函数库；Kei15.32中图分类号： TP273+ .5 文献标识码：A 文章编号：2096-4706（2025）16-0029-05

C Programming of DLQR Control Algorithm Based on STM32F103C8

WANG Changshi （Temperature MeasurementandControlLaboratoryofNanchang DeyouIndustrialCo.，Ltd.，Nanchang33o025，China）

Abstract： Implementing a more complex Discrete Linear Quadratic Regulator （DLQR）control algorithm on alowerend MCUchip（lowoperating frequency，lowFlashandRAMcapacity，noFPU，andlowcost）isapracticaland minorproblem in the MCU control field in recent years.The project innovatively completed the independent Clanguage program design of DLQRcontrolalgorithmo STM32F103C8.Thethree main pointsareas follows.Firstly，theCMSIS-DSPfunctionlibraryis addedtothegeneraldevelopmenttoolKeil5.32ofSTM32F1o3C8MCU.Secondly，thebilinearmethodisusedtorealizethe discretizationofthecontinuousstateequation byCprogramming.Finaly，thebackwarditeration method isused to solve the dynamic Riccati equation，and then the discrete state feedback gain matrix Kn is obtained. The product test shows that the DLQR controlalgorithm programbasedonthe Clanguage design isalmostidentical to theprogram basedonMATLABdesign on the STM32F103C8 chip.

Keywords： STM32F103C8; DLQR; bilinear transformation; dynamic Riccati equation; CMSIS-DSP function library： Keil 5.32

0 引言

近一年多来，实验室一直在探索基于STM32F103C8（以下简称F103）的DLQR控制技术。（剩余6900字）