LSMushui
a4da5ad17c
- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
127 lines
3.7 KiB
C
127 lines
3.7 KiB
C
/* =============================================================================
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* pid.c - 位置式/增量式 PID(自 legacy Control/PID 原样移植)
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* 用法:
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* PID_PositionStructureInit(pid, need) 初始化
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* PID_PositionSetParameter(pid, kp, ki, kd) 设置增益
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* PID_PositionSetEkRange(pid, lo, hi) 误差死区(|ek|在区间内视为0)
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* PID_PositionSetOUTRange(pid, lo, hi) 输出限幅
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* PID_PositionCalc(pid, now) 每周期计算,结果在 pid->OUT
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* PID_PositionClean(pid) 清误差与积分(模式切换时)
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* 注意: 积分无独立限幅,靠输出限幅+死区约束;所有云台/底盘 PID 参数集中在
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* robot_param.h,控制周期 2ms(与 legacy 调参时一致,勿随意改周期)
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* ========================================================================== */
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#include "pid.h"
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void PID_PositionStructureInit(PID_PositionTypeDef * pid, float need_value)
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{
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pid->Need_Value = need_value;
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pid->Ek = 0;
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pid->Sum_Ek = 0;
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pid->Ek_low = 0;
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pid->Ek_up = 0;
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pid->Kp = 0;
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pid->Ki = 0;
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pid->Kd = 0;
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pid->OUT_low = -1e10;
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pid->OUT_up = 1e10;
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}
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void PID_PositionSetParameter(PID_PositionTypeDef * pid, float kp, float ki, float kd)
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{
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pid->Kp = kp;
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pid->Ki = ki;
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pid->Kd = kd;
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}
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void PID_PositionSetEkRange(PID_PositionTypeDef * pid, float ek_low, float ek_up)
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{
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pid->Ek_low = ek_low;
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pid->Ek_up = ek_up;
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}
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void PID_PositionSetOUTRange(PID_PositionTypeDef * pid, float out_low, float out_up)
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{
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pid->OUT_low = out_low;
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pid->OUT_up = out_up;
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}
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void PID_PositionClean(PID_PositionTypeDef * pid)
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{
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pid->Ek = 0;
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pid->Sum_Ek = 0;
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}
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void PID_PositionCalc(PID_PositionTypeDef * pid, float now_value)
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{
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pid->Now_Value = now_value;
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pid->Ek_1 = pid->Ek;
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pid->Ek = pid->Need_Value - pid->Now_Value;
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if (pid->Ek_low < pid->Ek && pid->Ek < pid->Ek_up) // 误差为0检测
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pid->Ek = 0;
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pid->Sum_Ek += pid->Ek;
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pid->Del_Ek = pid->Ek - pid->Ek_1;
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pid->P_OUT = pid->Kp * pid->Ek;
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pid->I_OUT = pid->Ki * pid->Sum_Ek;
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pid->D_OUT = pid->Kd * pid->Del_Ek;
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pid->OUT = pid->P_OUT + pid->I_OUT + pid->D_OUT;
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if (pid->OUT < pid->OUT_low) // 输出限幅
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pid->OUT = pid->OUT_low;
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if (pid->OUT > pid->OUT_up)
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pid->OUT = pid->OUT_up;
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}
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void PID_IncrementalStructureInit(PID_IncrementalTypeDef * pid, float need_value)
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{
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pid->Need_Value = need_value;
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pid->Ek = 0;
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pid->Ek_1 = 0;
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pid->Ek_low = 0;
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pid->Ek_up = 0;
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pid->Kp = 0;
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pid->Ki = 0;
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pid->Kd = 0;
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pid->OUT_low = -1e10;
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pid->OUT_up = 1e10;
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}
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void PID_IncrementalSetParameter(PID_IncrementalTypeDef * pid, float kp, float ki, float kd)
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{
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pid->Kp = kp;
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pid->Ki = ki;
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pid->Kd = kd;
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}
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void PID_IncrementalSetEkRange(PID_IncrementalTypeDef * pid, float ek_low, float ek_up)
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{
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pid->Ek_low = ek_low;
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pid->Ek_up = ek_up;
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}
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void PID_IncrementalSetOUTRange(PID_IncrementalTypeDef * pid, float out_low, float out_up)
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{
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pid->OUT_low = out_low;
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pid->OUT_up = out_up;
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}
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void PID_IncrementalCalc(PID_IncrementalTypeDef * pid, float now_value)
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{
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pid->Now_Value = now_value;
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pid->Ek_2 = pid->Ek_1;
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pid->Ek_1 = pid->Ek;
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pid->Ek = pid->Need_Value - pid->Now_Value;
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if (pid->Ek_low < pid->Ek && pid->Ek < pid->Ek_up) // 误差为0检测
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pid->Ek = 0;
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pid->P_OUT = pid->Kp * (pid->Ek - pid->Ek_1);
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pid->I_OUT = pid->Ki * pid->Ek;
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pid->D_OUT = pid->Kd * (pid->Ek - 2 * pid->Ek_1 + pid->Ek_2);
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pid->OUT = pid->P_OUT + pid->I_OUT + pid->D_OUT;
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if (pid->OUT < pid->OUT_low) // 输出限幅
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pid->OUT = pid->OUT_low;
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if (pid->OUT > pid->OUT_up)
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pid->OUT = pid->OUT_up;
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}
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