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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);