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存了一下最新的pid参数

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井明江
2024-06-12 18:13:18 +08:00
parent 81f0e13eae
commit f33ab5ab4b
3 changed files with 61 additions and 51 deletions
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15
app/by_fan_control.c
View File

@@ -9,8 +9,8 @@
#define FAN_LB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 左侧动力风扇 #define FAN_LB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 左侧动力风扇
#define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左侧动力风扇 #define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左侧动力风扇
// M1 // M1
#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // 右侧动力风扇 #define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右侧动力风扇
#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH1_D12 // 右侧动力风扇 #define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右侧动力风扇
// M3 // M3
#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左后动力风扇 #define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左后动力风扇
#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH3_D5 // 左后动力风扇 #define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH3_D5 // 左后动力风扇
@@ -83,8 +83,7 @@ void by_pwm_init(void)
pwm_init(FAN_LB_PWM_B_PIN, 12000, 0); pwm_init(FAN_LB_PWM_B_PIN, 12000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 12000, 0); pwm_init(FAN_RB_PWM_A_PIN, 12000, 0);
pwm_init(FAN_RB_PWM_B_PIN, 12000, 0); pwm_init(FAN_RB_PWM_B_PIN, 12000, 0);
// while (1) // while (1);
// ;
// system_delay_ms(3000); // system_delay_ms(3000);
// // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1 // // 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 // // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1
@@ -135,8 +134,7 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_
if (bpwm_duty_ls >= 0) { if (bpwm_duty_ls >= 0) {
pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls); pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls);
pwm_set_duty(FAN_LS_PWM_B_PIN, 0); pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
} } else {
else {
pwm_set_duty(FAN_LS_PWM_A_PIN, 0); pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls); pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
} }
@@ -144,8 +142,7 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_
if (bpwm_duty_rs >= 0) { if (bpwm_duty_rs >= 0) {
pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_duty_rs); pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_duty_rs);
pwm_set_duty(FAN_RS_PWM_B_PIN, 0); pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
} } else {
else {
pwm_set_duty(FAN_RS_PWM_A_PIN, 0); pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs); pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
} }
@@ -161,7 +158,7 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_
if (bpwm_duty_rb >= 0) { if (bpwm_duty_rb >= 0) {
pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb); pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb);
pwm_set_duty(FAN_RB_PWM_B_PIN, 0); pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
} else{ } else {
pwm_set_duty(FAN_RB_PWM_A_PIN, 0); pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * bpwm_duty_rb); pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * bpwm_duty_rb);
} }

83
app/jj_motion.c
View File

@@ -12,7 +12,7 @@ PID_TypeDef angle_pid;
PID_TypeDef far_gyro_pid; PID_TypeDef far_gyro_pid;
PID_TypeDef speed_pid; PID_TypeDef speed_pid;
// 弯道后面风扇角度环 // 弯道后面风扇角度环
float an_Kp0 = 51.0f; float an_Kp0 = 40.0f;
float an_Ki0 = 0.0f; float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f; float an_Kd0 = 0.0f;
// 直道后面风扇角度环 // 直道后面风扇角度环
@@ -20,15 +20,15 @@ float an_Kp1 = 42.0f;
float an_Ki1 = 0.0f; float an_Ki1 = 0.0f;
float an_Kd1 = 0.0f; float an_Kd1 = 0.0f;
// 圆环后面风扇角度环 // 圆环后面风扇角度环
float yu_Kp0 = 40.0f; float yu_Kp0 = 60.0f;
float yu_Ki0 = 0.0f; float yu_Ki0 = 0.0f;
float yu_Kd0 = 0.0f; float yu_Kd0 = 0.0f;
// 弯道侧面风扇角度环 // 弯道侧面风扇角度环
float cn_Kp1 = 420.0f; float cn_Kp1 = 300.0f;
float cn_Ki1 = 0.f; float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f; float cn_Kd1 = 0.0f;
// 直道侧面风扇角度环 // 直道侧面风扇角度环
float po_Kp1 = 600.0f; float po_Kp1 = 400.0f;
float po_Ki1 = 0.0f; float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f; float po_Kd1 = 0.0f;
// 期望和当前量 // 期望和当前量
@@ -39,15 +39,15 @@ float in_pos;
float out_pos; float out_pos;
float set_pos = 0.0f; float set_pos = 0.0f;
// 弯道角速度环 // 弯道角速度环
float gy_Kp0 = 2.50f; float gy_Kp0 = 4.50f;
float gy_Ki0 = 0.0f; float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f; float gy_Kd0 = 0.0f;
// 直道角速度环 // 直道角速度环
float gy_Kp1 = 4.2f; float gy_Kp1 = 3.2f;
float gy_Ki1 = 0.0f; float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f; float gy_Kd1 = 0.0f;
// 圆环角速度环 // 圆环角速度环
float ygy_Kp0 = 0.0f; float ygy_Kp0 = 4.0f;
float ygy_Ki0 = 0.0f; float ygy_Ki0 = 0.0f;
float ygy_Kd0 = 0.0f; float ygy_Kd0 = 0.0f;
// 当前和输入量 // 当前和输入量
@@ -55,21 +55,22 @@ float in_gyro;
float out_gyro; float out_gyro;
// float set_gyro = 0.0f; // float set_gyro = 0.0f;
// 速度环 // 速度环
float sp_Kp = 16.0f; float sp_Kp = 10.0f;
float sp_Ki = 42.f; float sp_Ki = 100.f;
float sp_Kd = 0.0f; float sp_Kd = 0.0f;
float in_speed; float in_speed;
float out_speed; float out_speed;
float set_speed; float set_speed;
float set_speed0 = 520.0f; float set_speed0 = 800.0f;
float set_speed1 = 900.0f; float set_speed1 = 1100.0f;
float set_speed2 = 550.f; float set_speed2 = 810.f;
int cnt1 = 0; int cnt1 = 0;
int cnt2 = 0; int cnt2 = 0;
int cnt3 = 0; int cnt3 = 0;
int cnt4 = 0; int cnt4 = 0;
int cnt5 = 0;
uint8_t cnt3_flag = 0; uint8_t cnt3_flag = 0;
uint8_t in_state = 0; uint8_t in_state = 0;
uint8_t in_stop = 0; uint8_t in_stop = 0;
@@ -124,6 +125,7 @@ void sport_motion()
if (1 == bt_run_flag) { if (1 == bt_run_flag) {
cnt1++; cnt1++;
cnt2++; cnt2++;
cnt5++;
// pid参数切换 // pid参数切换
if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道 if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
cnt3_flag = 0; cnt3_flag = 0;
@@ -148,14 +150,22 @@ void sport_motion()
bt_printf("to 圆环"); bt_printf("to 圆环");
set_speed = set_speed2; set_speed = set_speed2;
cnt3_flag = 1; cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0); PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0); PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1); PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
} }
last_state = in_state; last_state = in_state;
if (cnt3_flag == 1 && (in_state == 1 || in_state == 3)) { if (cnt3_flag == 1 && (in_state == 1 || in_state == 3)) {
cnt3++; cnt3++;
if (in_state == 3) {
if (cnt3 >= 1500) // 200ms
{
bt_printf("to 环内");
cnt3_flag = 2;
cnt3 = 0;
}
} else {
if (cnt3 >= 500) // 200ms if (cnt3 >= 500) // 200ms
{ {
bt_printf("to 环内"); bt_printf("to 环内");
@@ -163,6 +173,7 @@ void sport_motion()
cnt3 = 0; cnt3 = 0;
} }
} }
}
if (cnt1 >= 2) { if (cnt1 >= 2) {
PID_Compute(&far_gyro_pid); PID_Compute(&far_gyro_pid);
@@ -170,23 +181,25 @@ void sport_motion()
} }
if (cnt2 >= 10) { if (cnt2 >= 10) {
in_speed = sport_get_speed(); in_speed = sport_get_speed();
PID_Compute(&speed_pid);
PID_Compute(&far_angle_pid);
PID_Compute(&angle_pid);
cnt2 = 0; cnt2 = 0;
} }
if (cnt5 >= 20) {
PID_Compute(&speed_pid);
PID_Compute(&far_angle_pid);
PID_Compute(&angle_pid);
cnt5 = 0;
}
if (in_state == 0 || in_state == 2) { if (in_state == 0 || in_state == 2) {
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6000.f); pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 7000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6000.f); pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 7000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f); pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 5000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f); pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 5000.f);
} else if (in_state == 1 || in_state == 3) { } else if (in_state == 1 || in_state == 3) {
pwm_duty_ls = (int32_t)myclip_f(-out_pos, -7000.0f, 7000.f);
pwm_duty_ls = (int32_t)myclip_f(-out_pos, -6000.0f, 6000.f); pwm_duty_rs = (int32_t)myclip_f(out_pos, -7000.0f, 7000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, -6000.0f, 6000.f); pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 5000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, -6000.0f, 6000.f); pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 5000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -6000.0f, 6000.f);
} }
by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb); by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
@@ -197,8 +210,8 @@ void sport_motion()
if (bt_fly_flag == 0) { if (bt_fly_flag == 0) {
by_pwm_update_duty(0 + 500, 0 + 500); by_pwm_update_duty(0 + 500, 0 + 500);
} else { } else {
if (in_state == 1 && cnt3_flag == 1) { if ((in_state == 1 || in_state == 3) && cnt3_flag == 1) {
float tt = 60 * fabs(tanf(myclip_f(in_angle, -60.f, 60.f) / 180 * PI)); float tt =0;//60 * fabs(tanf(myclip_f(in_angle, -60.f, 60.f) / 180 * PI));
by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt); by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
} else { } else {
@@ -216,23 +229,23 @@ void sport_pid_init()
/* 角度控制 */ /* 角度控制 */
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _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_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_angle_pid, 10); PID_SetSampleTime(&far_angle_pid, 20);
PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f); PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
PID(&angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); PID(&angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&angle_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&angle_pid, 10); PID_SetSampleTime(&angle_pid, 20);
PID_SetOutputLimits(&angle_pid, -6000.0f, 6000.0f); PID_SetOutputLimits(&angle_pid, -7000.0f, 7000.0f);
/* 角速度控制 */ /* 角速度控制 */
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量 PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_gyro_pid, 10); PID_SetSampleTime(&far_gyro_pid, 20);
PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f); PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f);
/* 速度控制 */ /* 速度控制 */
PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT); PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&speed_pid, 10); PID_SetSampleTime(&speed_pid, 20);
PID_SetOutputLimits(&speed_pid, -4000.0f, 5000.0f); PID_SetOutputLimits(&speed_pid, -2000.0f, 4000.0f);
} }

2
app/page/page_dparam.c
View File

@@ -51,7 +51,7 @@ static void Loop()
ips200_show_string(0, 60, "accz"); ips200_show_string(0, 60, "accz");
ips200_show_float(80, 60, (float)imu660ra_acc_z, 6, 1); ips200_show_float(80, 60, (float)imu660ra_acc_z, 6, 1);
ips200_show_string(0, 80, "accy"); ips200_show_string(0, 80, "accy");
ips200_show_float(80, 80, (float)imu660ra_acc_y, 4, 2); ips200_show_float(80, 80, (float)imu660ra_gyro_z, 4, 2);
ips200_show_string(0, 100, "speed"); ips200_show_string(0, 100, "speed");
ips200_show_float(80, 100, in_speed, 4, 4); ips200_show_float(80, 100, in_speed, 4, 4);
ips200_show_string(0, 120, "outang"); ips200_show_string(0, 120, "outang");