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pref: 优化控制pid，将角速度环输出加到侧面风扇上

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This commit is contained in:
井明江
2024-03-24 18:24:32 +08:00
parent 756e8ce029
commit 2e8aec0cf5
7 changed files with 79 additions and 52 deletions
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34
app/by_fan_control.c
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@@ -1,3 +1,4 @@
#include <stdio.h>
#include "by_fan_control.h"
#include "zf_common_headfile.h"
@@ -8,7 +9,18 @@
#define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13 // 左后动力风扇
#define FAN_RB_PWM_PIN TIM4_PWM_MAP1_CH1_D12 // 右后动力风扇
uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
uint32_t pwm_duty_ls_g;
uint32_t pwm_duty_rs_g;
uint32_t pwm_duty_lb_g;
uint32_t pwm_duty_rb_g;
static uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
{
return (x > up ? up : x < low ? low
: x);
}
static float myclip_f(float x, float low, float up)
{
return (x > up ? up : x < low ? low
: x);
@@ -19,10 +31,10 @@ void by_pwm_init(void)
pwm_init(FAN_LL_PWM_PIN, 50, 500);
pwm_init(FAN_RL_PWM_PIN, 50, 500);
pwm_init(FAN_LS_PWM_PIN, 4000, 500);
pwm_init(FAN_RS_PWM_PIN, 4000, 500);
pwm_init(FAN_LB_PWM_PIN, 4000, 500);
pwm_init(FAN_RB_PWM_PIN, 4000, 500);
pwm_init(FAN_LS_PWM_PIN, 4000, 0);
pwm_init(FAN_RS_PWM_PIN, 4000, 0);
pwm_init(FAN_LB_PWM_PIN, 4000, 0);
pwm_init(FAN_RB_PWM_PIN, 4000, 0);
// system_delay_ms(3000);
// // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1
// // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1
@@ -60,11 +72,15 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
*/
void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb)
{
pwm_duty_ls = myclip(pwm_duty_ls, 0, 5000);
pwm_duty_rs = myclip(pwm_duty_rs, 0, 5000);
pwm_duty_lb = myclip(pwm_duty_lb, 0, 5000);
pwm_duty_rb = myclip(pwm_duty_rb, 0, 5000);
pwm_duty_ls = myclip(pwm_duty_ls, 500, 3000);
pwm_duty_rs = myclip(pwm_duty_rs, 500, 3000);
pwm_duty_lb = myclip(pwm_duty_lb, 500, 3000);
pwm_duty_rb = myclip(pwm_duty_rb, 500, 3000);
pwm_duty_ls_g = pwm_duty_ls;
pwm_duty_rs_g = pwm_duty_rs;
pwm_duty_lb_g = pwm_duty_lb;
pwm_duty_rb_g = pwm_duty_rb;
pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls);
pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs);

9
app/by_fan_control.h
View File

@@ -4,8 +4,13 @@
#include "stdio.h"
#include "ch32v30x.h"
extern uint32_t pwm_duty_ls_g;
extern uint32_t pwm_duty_rs_g;
extern uint32_t pwm_duty_lb_g;
extern uint32_t pwm_duty_rb_g;
extern void by_pwm_init(void);
void by_pwm_update_duty(uint32_t update_pwm_duty1,uint32_t update_pwm_duty2);
void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2);
extern void by_pwm_update_duty(uint32_t update_pwm_duty1,uint32_t update_pwm_duty2);
extern void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2);
#endif

4
app/jj_blueteeth.c
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@@ -14,6 +14,7 @@ enum bt_order {
Speed_up = 0x04, // 加速
Speed_down = 0x05, // 减速
Speed_ctrl = 0x06, // 速度开关
Reset,
};
/**
* @brief 蓝牙初始化
@@ -50,6 +51,9 @@ void jj_bt_run()
case Speed_down:
bt_run -= 50;
break;
case Reset:
NVIC_SystemReset();
break;
default:
break;
}

78
app/jj_motion.c
View File

@@ -42,6 +42,13 @@ float set_speed = 0.0f;
int cnt1 = 0;
int cnt2 = 0;
static float myclip_f(float x, float low, float up)
{
return (x > up ? up : x < low ? low
: x);
}
float sport_get_speed(void)
{
#define ALPHA (0.97f)
@@ -60,56 +67,51 @@ float sport_get_speed(void)
void sport_motion(void)
{
cnt1++;
cnt2++;
imu660ra_get_gyro();
in_gyro = imu660ra_gyro_z; // 陀螺仪输入
// in_angle = 0; // 图像远端输入
// in_pos = 0; // 图像近端输入
// 清除计数
PID_Compute(&far_gyro_pid);
if (cnt1 >= 10) {
in_speed = -1 * sport_get_speed();
PID_Compute(&speed_pid);
PID_Compute(&near_pos_pid);
cnt1 = 0;
}
if (cnt2 >= 20) {
cnt2 = 0;
PID_Compute(&far_angle_pid);
}
/* 动力风扇设置 */
if (1 == bt_run_flag) {
if (out_gyro > 0) {
by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
(int32_t)(500 + 1 * out_pos - 0 * out_gyro),
(int32_t)(500 + out_speed + out_gyro),
(int32_t)(500 + out_speed - out_gyro));
cnt1++;
cnt2++;
} else if (out_gyro <= 0) {
by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
(int32_t)(500 + 1 * out_pos - 0 * out_gyro),
(int32_t)(500 + out_speed + out_gyro),
(int32_t)(500 + out_speed - out_gyro));
imu660ra_get_gyro();
in_gyro = imu660ra_gyro_z; // 陀螺仪输入
// in_angle = 0; // 图像远端输入
// in_pos = 0; // 图像近端输入
// 清除计数
PID_Compute(&far_gyro_pid);
if (cnt1 >= 10) {
in_speed = -1 * sport_get_speed();
PID_Compute(&speed_pid);
PID_Compute(&near_pos_pid);
cnt1 = 0;
}
if (cnt2 >= 20) {
cnt2 = 0;
PID_Compute(&far_angle_pid);
}
uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + 1.5 * out_gyro, 0.0f, 5000.f);
uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - 1.5 * out_gyro, 0.0f, 5000.f);
uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 5000.f);
uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 5000.f);
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
// by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro);
} else {
by_pwm_power_duty(500, 500, 500, 500);
by_pwm_power_duty(0, 0, 0, 0);
}
/* 升力风扇设置 */
if (bt_fly_flag == 0) {
by_pwm_update_duty(0 + 500, 0 + 500);
} else {
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
if (in_angle > 7.5 || in_angle < -7.5) {
by_pwm_update_duty(bt_fly + 450, bt_fly + 450);
} else {
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
}
}
}
@@ -137,7 +139,7 @@ void sport_pid_init()
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&near_pos_pid, 10);
PID_SetOutputLimits(&near_pos_pid, -3000.0f, 3000.0f);
PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f);
// PID_Init(&near_pos_pid);
/* 速度控制 */

3
app/main.c
View File

@@ -62,13 +62,14 @@ int main(void)
pit_ms_init(TIM1_PIT, 1); // 运动解算，编码器
// printf("ok\r\n");
printf("ok\r\n");
by_vofa_init(&vofa_test, BT_UART_INDEX, sizeof(debug_array) / sizeof(debug_array[0]), debug_array);
while (1) {
debug_array[0] = in_pos;
debug_array[1] = out_pos;
// by_vofa_send(&vofa_test); // 发送数据
printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g);
Page_Run();
by_frame_parse(2, &test_data[0].u32);
by_buzzer_run();