btl143/QD4C-firmware
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feat: 增加分段pid

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井明江
2024-03-28 04:24:59 +08:00
parent 99c582c53e
commit 8020561175
11 changed files with 278 additions and 73 deletions
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70
app/jj_motion.c
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@@ -12,23 +12,35 @@ PID_TypeDef far_gyro_pid;
PID_TypeDef near_pos_pid;
PID_TypeDef speed_pid;
float an_Kp = 8.0f;
float an_Ki = 1.0f;
float an_Kd = 2.0f;
float an_Kp0 = 8.0f;
float an_Ki0 = 1.0f;
float an_Kd0 = 2.0f;
float an_Kp1 = 8.0f;
float an_Ki1 = 1.0f;
float an_Kd1 = 2.0f;
float in_angle;
float set_angle = 0.0f;
float out_angle;
float gy_Kp = 1.0f;
float gy_Ki = 0.0f;
float gy_Kd = 0.0f;
float gy_Kp0 = 1.0f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
float gy_Kp1 = 1.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
float in_gyro;
float out_gyro;
// float set_gyro = 0.0f;
float po_Kp = 1.0f;
float po_Ki = 0.0f;
float po_Kd = 0.0f;
float po_Kp0 = 1.0f;
float po_Ki0 = 0.0f;
float po_Kd0 = 0.0f;
float po_Kp1 = 1.0f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
float in_pos;
float out_pos;
float set_pos = 0.0f;
@@ -38,10 +50,16 @@ float sp_Ki = 0.0f;
float sp_Kd = 0.0f;
float in_speed;
float out_speed;
float set_speed = 0.0f;
float set_speed0 = 0.0f;
float set_speed1 = 0.0f;
int cnt1 = 0;
int cnt2 = 0;
uint32_t in_state = 0;
int cnt1 = 0;
int cnt2 = 0;
uint32_t pwm_duty_ls;
uint32_t pwm_duty_rs;
uint32_t pwm_duty_lb;
uint32_t pwm_duty_rb;
static float myclip_f(float x, float low, float up)
{
@@ -67,6 +85,11 @@ float sport_get_speed(void)
void sport_motion(void)
{
if (1 == in_state) {
PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1);
} else {
PID_SetTunings(&far_gyro_pid, an_Kp0, an_Ki0, an_Kd0);
}
/* 动力风扇设置 */
if (1 == bt_run_flag) {
cnt1++;
@@ -74,9 +97,6 @@ void sport_motion(void)
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) {
@@ -87,18 +107,16 @@ void sport_motion(void)
cnt1 = 0;
}
if (cnt2 >= 20) {
cnt2 = 0;
PID_Compute(&far_angle_pid);
}
uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + out_gyro, 0.0f, 8000.f);
uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - out_gyro, 0.0f, 8000.f);
uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 6000.f);
uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 6000.f);
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
pwm_duty_ls = (uint32_t)myclip_f(-1.5f * out_pos + out_gyro, 0.0f, 8000.f);
pwm_duty_rs = (uint32_t)myclip_f(1.5f * out_pos - out_gyro, 0.0f, 8000.f);
pwm_duty_lb = (uint32_t)myclip_f(1.f * out_speed + out_gyro, 0.0f, 8000.f);
pwm_duty_rb = (uint32_t)myclip_f(1.f * out_speed - out_gyro, 0.0f, 8000.f);
// by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro);
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
} else {
by_pwm_power_duty(0, 0, 0, 0);
}
@@ -118,28 +136,28 @@ void sport_motion(void)
void sport_pid_init()
{
/* 角度控制 */
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, _PID_P_ON_E, _PID_CD_REVERSE);
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_angle_pid, 20);
PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
// PID_Init(&far_angle_pid);
/* 角速度控制 */
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, _PID_P_ON_E, _PID_CD_REVERSE);
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_gyro_pid, 1);
PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f);
// PID_Init(&far_gyro_pid);
/* 近点控制 */
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _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, -4000.0f, 4000.0f);
// PID_Init(&near_pos_pid);
/* 速度控制 */
PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
PID(&speed_pid, &in_speed, &out_speed, &set_speed1, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&speed_pid, 10);
PID_SetOutputLimits(&speed_pid, 0.0f, 2000.0f);