From f33ab5ab4bbd55110ea6d96190fe069277a10a89 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Wed, 12 Jun 2024 18:13:18 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AD=98=E4=BA=86=E4=B8=80=E4=B8=8B=E6=9C=80?= =?UTF-8?q?=E6=96=B0=E7=9A=84pid=E5=8F=82=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/by_fan_control.c | 17 ++++---- app/jj_motion.c | 93 ++++++++++++++++++++++++------------------ app/page/page_dparam.c | 2 +- 3 files changed, 61 insertions(+), 51 deletions(-) diff --git a/app/by_fan_control.c b/app/by_fan_control.c index acee032..5968a9a 100644 --- a/app/by_fan_control.c +++ b/app/by_fan_control.c @@ -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_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左侧动力风扇 // M1 -#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // 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_A_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 #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 @@ -83,8 +83,7 @@ void by_pwm_init(void) pwm_init(FAN_LB_PWM_B_PIN, 12000, 0); pwm_init(FAN_RB_PWM_A_PIN, 12000, 0); pwm_init(FAN_RB_PWM_B_PIN, 12000, 0); - // while (1) - // ; + // while (1); // 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 @@ -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) { pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls); 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_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) { pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_duty_rs); 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_B_PIN, -1 * pwm_duty_rs); } @@ -153,7 +150,7 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_ if (bpwm_duty_lb >= 0) { pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb); pwm_set_duty(FAN_LB_PWM_B_PIN, 0); - } else { + } else { pwm_set_duty(FAN_LB_PWM_A_PIN, 0); pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * bpwm_duty_lb); } @@ -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) { pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb); 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_B_PIN, -1 * bpwm_duty_rb); } diff --git a/app/jj_motion.c b/app/jj_motion.c index d412b81..4951998 100644 --- a/app/jj_motion.c +++ b/app/jj_motion.c @@ -12,7 +12,7 @@ PID_TypeDef angle_pid; PID_TypeDef far_gyro_pid; PID_TypeDef speed_pid; // 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_Kd0 = 0.0f; // 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_Kd1 = 0.0f; // 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_Kd0 = 0.0f; // 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_Kd1 = 0.0f; // 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_Kd1 = 0.0f; // 期望和当前量 @@ -39,15 +39,15 @@ float in_pos; float out_pos; float set_pos = 0.0f; // 弯道角速度环 -float gy_Kp0 = 2.50f; +float gy_Kp0 = 4.50f; float gy_Ki0 = 0.0f; float gy_Kd0 = 0.0f; // 直道角速度环 -float gy_Kp1 = 4.2f; +float gy_Kp1 = 3.2f; float gy_Ki1 = 0.0f; float gy_Kd1 = 0.0f; // 圆环角速度环 -float ygy_Kp0 = 0.0f; +float ygy_Kp0 = 4.0f; float ygy_Ki0 = 0.0f; float ygy_Kd0 = 0.0f; // 当前和输入量 @@ -55,21 +55,22 @@ float in_gyro; float out_gyro; // float set_gyro = 0.0f; // 速度环 -float sp_Kp = 16.0f; -float sp_Ki = 42.f; +float sp_Kp = 10.0f; +float sp_Ki = 100.f; float sp_Kd = 0.0f; float in_speed; float out_speed; float set_speed; -float set_speed0 = 520.0f; -float set_speed1 = 900.0f; -float set_speed2 = 550.f; +float set_speed0 = 800.0f; +float set_speed1 = 1100.0f; +float set_speed2 = 810.f; int cnt1 = 0; int cnt2 = 0; int cnt3 = 0; int cnt4 = 0; +int cnt5 = 0; uint8_t cnt3_flag = 0; uint8_t in_state = 0; uint8_t in_stop = 0; @@ -124,6 +125,7 @@ void sport_motion() if (1 == bt_run_flag) { cnt1++; cnt2++; + cnt5++; // pid参数切换 if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道 cnt3_flag = 0; @@ -148,19 +150,28 @@ void sport_motion() bt_printf("to 圆环"); set_speed = set_speed2; cnt3_flag = 1; - PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0); - 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_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0); PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1); } last_state = in_state; if (cnt3_flag == 1 && (in_state == 1 || in_state == 3)) { cnt3++; - if (cnt3 >= 500) // 200ms - { - bt_printf("to 环内"); - cnt3_flag = 2; - cnt3 = 0; + if (in_state == 3) { + if (cnt3 >= 1500) // 200ms + { + bt_printf("to 环内"); + cnt3_flag = 2; + cnt3 = 0; + } + } else { + if (cnt3 >= 500) // 200ms + { + bt_printf("to 环内"); + cnt3_flag = 2; + cnt3 = 0; + } } } @@ -170,23 +181,25 @@ void sport_motion() } if (cnt2 >= 10) { in_speed = sport_get_speed(); - PID_Compute(&speed_pid); - PID_Compute(&far_angle_pid); - PID_Compute(&angle_pid); 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) { - 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); + pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 7000.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, 5000.f); + pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 5000.f); } else if (in_state == 1 || in_state == 3) { - - pwm_duty_ls = (int32_t)myclip_f(-out_pos, -6000.0f, 6000.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, -6000.0f, 6000.f); - pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -6000.0f, 6000.f); + pwm_duty_ls = (int32_t)myclip_f(-out_pos, -7000.0f, 7000.f); + pwm_duty_rs = (int32_t)myclip_f(out_pos, -7000.0f, 7000.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, 5000.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); @@ -197,8 +210,8 @@ void sport_motion() if (bt_fly_flag == 0) { by_pwm_update_duty(0 + 500, 0 + 500); } else { - if (in_state == 1 && cnt3_flag == 1) { - float tt = 60 * fabs(tanf(myclip_f(in_angle, -60.f, 60.f) / 180 * PI)); + if ((in_state == 1 || in_state == 3) && cnt3_flag == 1) { + 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); } else { @@ -216,23 +229,23 @@ void sport_pid_init() /* 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_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC); - PID_SetSampleTime(&far_angle_pid, 10); - PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f); + PID_SetSampleTime(&far_angle_pid, 20); + 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, -6000.0f, 6000.0f); + PID_SetSampleTime(&angle_pid, 20); + PID_SetOutputLimits(&angle_pid, -7000.0f, 7000.0f); /* 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_SetSampleTime(&far_gyro_pid, 20); PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f); /* 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, 5000.0f); + PID_SetSampleTime(&speed_pid, 20); + PID_SetOutputLimits(&speed_pid, -2000.0f, 4000.0f); } diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c index ebae9c3..6e2fd5b 100644 --- a/app/page/page_dparam.c +++ b/app/page/page_dparam.c @@ -51,7 +51,7 @@ static void Loop() ips200_show_string(0, 60, "accz"); ips200_show_float(80, 60, (float)imu660ra_acc_z, 6, 1); 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_float(80, 100, in_speed, 4, 4); ips200_show_string(0, 120, "outang");