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曲率pid输出存在越界

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井明江
2024-06-18 16:11:59 +08:00
parent 8d4580f225
commit ad2ba36b54
6 changed files with 77 additions and 94 deletions
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58
app/jj_motion.c
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@@ -8,7 +8,8 @@
#include "by_imu.h"
PID_TypeDef far_angle_pid;
PID_TypeDef angle_pid;
PID_TypeDef str_angle_pid;
PID_TypeDef tur_cal_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef speed_pid;
// 弯道后面风扇角度环
@@ -38,6 +39,7 @@ float out_angle;
float in_pos;
float out_pos;
float set_pos = 0.0f;
float out_cal;
// 弯道角速度环
float gy_Kp0 = 4.50f;
float gy_Ki0 = 0.0f;
@@ -81,6 +83,8 @@ int32_t pwm_duty_rs;
int32_t pwm_duty_lb;
int32_t pwm_duty_rb;
int turn_cnt = 0;
int turn_flag = 0;
static float myclip_f(float x, float low, float up)
{
return (x > up ? up : x < low ? low
@@ -136,17 +140,14 @@ void sport_motion()
set_speed = set_speed1;
PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
PID_SetTunings(&angle_pid, po_Kp1, po_Ki1, po_Kd1);
}
if ((last_state != in_state) && in_state == 1) { // 弯道
bt_printf("to 入弯");
set_speed = set_speed0;
cnt3_flag = 1;
turn_flag = 1;
PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
}
if ((last_state != in_state) && in_state == 3) { // 圆环
bt_printf("to 圆环");
@@ -154,8 +155,6 @@ void sport_motion()
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
}
last_state = in_state;
// pid计算
@@ -167,25 +166,26 @@ void sport_motion()
in_speed = sport_get_speed();
PID_Compute(&speed_pid);
PID_Compute(&far_angle_pid);
PID_Compute(&angle_pid);
PID_Compute(&str_angle_pid);
PID_Compute(&tur_cal_pid);
cnt2 = 0;
}
if (cnt5 >= 20) {
if (cnt5 >= 50) {
cnt5 = 0;
}
// 输出限幅
if (in_state == 0 || in_state == 2) {
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 5000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 5000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f);
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6000.f);
pwm_duty_lb = (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, 6000.f);
} else if (in_state == 1 || in_state == 3) {
pwm_duty_ls = (int32_t)myclip_f(-out_pos, -8000.0f, 8000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, -8000.0f, 8000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, -7000.0f, 7000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -7000.0f, 7000.f);
pwm_duty_ls = (int32_t)myclip_f(-out_cal, -5000.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_cal, -5000.0f, 6000.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, -6000.0f, 6000.f);
}
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
@@ -197,7 +197,7 @@ void sport_motion()
by_pwm_update_duty(0 + 500, 0 + 500);
} else {
if ((in_state == 1 || in_state == 3) && cnt3_flag == 1) {
float tt = 100 * fabs(tanf(myclip_f(in_angle, -60.f, 60.f) / 180 * PI));
float tt = 3 * fabs(in_pos);
by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
cnt3++;
if (in_state == 3) {
@@ -208,7 +208,7 @@ void sport_motion()
cnt3 = 0;
}
} else {
if (cnt3 >= 400) // 200ms
if (cnt3 >= 500) // 200ms
{
bt_printf("to 弯道");
cnt3_flag = 2;
@@ -232,21 +232,25 @@ void sport_pid_init()
PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_angle_pid, 10);
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_SetMode(&angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&angle_pid, 10);
PID_SetOutputLimits(&angle_pid, -8000.0f, 8000.0f);
// 直道侧面位置环
PID(&str_angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&str_angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&str_angle_pid, 10);
PID_SetOutputLimits(&str_angle_pid, -6000.0f, 6000.0f);
// 弯道侧面曲率环
PID(&tur_cal_pid, &in_pos, &out_cal, &set_pos, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&tur_cal_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&tur_cal_pid, 10);
PID_SetOutputLimits(&tur_cal_pid, -6000.0f, 6000.0f);
/* 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_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_gyro_pid, 10);
PID_SetOutputLimits(&far_gyro_pid, -7000.0f, 7000.0f);
PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);
/* 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_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&speed_pid, 10);
PID_SetOutputLimits(&speed_pid, -4000.0f, 6000.0f);
PID_SetOutputLimits(&speed_pid, -2000.0f, 5000.0f);
}