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电机修改为H5k_V10k,修改pid

This commit is contained in:
起床就犯困 2025-07-03 10:27:47 +08:00
parent 9d226bec35
commit 91c2f005de
7 changed files with 57 additions and 46 deletions
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10
APP/Common/ptz_default_value.h
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@ -363,11 +363,11 @@
#endif #endif
#ifdef NEW_MOTOR #ifdef NEW_MOTOR
///水平电机减速比 ///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 3.0 #define PTZ_HORI_MOTOR_RATIO 5.0
///水平大齿轮减速比 ///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 50.0 #define PTZ_HORI_BIG_GEAR_RATIO 50.0
///水平总减速比 ///水平总减速比
#define PTZ_HORI_RATIO 150.0 #define PTZ_HORI_RATIO 250.0
///水平电机调速模拟电压最大值 ///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999 #define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值 ///水平电机调速模拟电压最小值
@ -379,11 +379,11 @@
///水平电机最小转速 ///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 405.0 #define PTZ_HORI_MOTOR_MIN_SPEED 405.0
///水平云台最大转速 ///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 20.0 #define PTZ_HORI_MAX_SPEED 12.0
///水平云台最小转速 ///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 2.7 #define PTZ_HORI_MIN_SPEED 1.63
///水平云台默认最佳速度 ///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 14.4 #define PTZ_HORI_BEST_SPEED 9.0
#endif #endif
/**********************************************************/ /**********************************************************/

2
APP/Device/Device_rotate/rotate_bldc.h
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@ -230,7 +230,7 @@
///ɲ³µ×î½ü¾àÀë ///ɲ³µ×î½ü¾àÀë
#define PTZ_HORI_STOP_NEAR_DISTANCE 0.1 #define PTZ_HORI_STOP_NEAR_DISTANCE 0.1
///ɲ³µ×îÔ¶¾àÀë ///ɲ³µ×îÔ¶¾àÀë
#define PTZ_HORI_STOP_FAR_DISTANCE 4.0 #define PTZ_HORI_STOP_FAR_DISTANCE 4.5
///ɲ³µ×î½ü¾àÀë ///ɲ³µ×î½ü¾àÀë
#define PTZ_VERT_STOP_NEAR_DISTANCE 0.1 #define PTZ_VERT_STOP_NEAR_DISTANCE 0.1

62
APP/Device/Device_speed/speed_to_bldc.c
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@ -86,12 +86,12 @@ void ptz_pid_init()
g_ptz.vert_pid.C = g_ptz.vert_pid.KP * (g_ptz.vert_pid.TD / g_ptz.vert_pid.T); g_ptz.vert_pid.C = g_ptz.vert_pid.KP * (g_ptz.vert_pid.TD / g_ptz.vert_pid.T);
g_speed_to_hall.hori_speed_pid.kp = PTZ_HORI_PID_HORI_KP; // g_speed_to_hall.hori_speed_pid.kp = PTZ_HORI_PID_HORI_KP;
// g_speed_to_hall.hori_speed_pid.ki = PTZ_HORI_PID_HORI_KP * (20.0 / PTZ_HORI_PID_HORI_TI); // g_speed_to_hall.hori_speed_pid.ki = PTZ_HORI_PID_HORI_KP * (20.0 / PTZ_HORI_PID_HORI_TI);
g_speed_to_hall.hori_speed_pid.ki = PTZ_HORI_PID_HORI_TI; // g_speed_to_hall.hori_speed_pid.ki = PTZ_HORI_PID_HORI_TI;
g_speed_to_hall.vert_speed_pid.kp = PTZ_VERT_PID_VERT_KP; g_speed_to_hall.hori_speed_pid.k = PTZ_HORI_PID_HORI_KP + PTZ_HORI_PID_HORI_TI;
// g_speed_to_hall.vert_speed_pid.ki = PTZ_VERT_PID_VERT_KP * (20.0 / PTZ_VERT_PID_VERT_TI); // g_speed_to_hall.vert_speed_pid.ki = PTZ_VERT_PID_VERT_KP * (20.0 / PTZ_VERT_PID_VERT_TI);
g_speed_to_hall.vert_speed_pid.ki = PTZ_VERT_PID_VERT_TI; g_speed_to_hall.vert_speed_pid.k = PTZ_VERT_PID_VERT_KP + PTZ_VERT_PID_VERT_TI;
} }
void ptz_hori_pid_clear_zero() void ptz_hori_pid_clear_zero()
@ -123,15 +123,18 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
// H_IIncPid = g_speed_to_hall.hori_speed_pid.kp * (H_IError - g_ptz.hori_pid.LastError) // H_IIncPid = g_speed_to_hall.hori_speed_pid.kp * (H_IError - g_ptz.hori_pid.LastError)
// + g_speed_to_hall.hori_speed_pid.ki * H_IError; // + g_speed_to_hall.hori_speed_pid.ki * H_IError;
// H_IIncPid = g_speed_to_hall.hori_speed_pid.kp * (H_IError - g_ptz.hori_pid.LastError); // H_IIncPid = g_speed_to_hall.hori_speed_pid.kp * (H_IError - g_ptz.hori_pid.LastError);
g_speed_to_hall.hori_speed_pid.sum_error += H_IError; // g_speed_to_hall.hori_speed_pid.sum_error += H_IError;
if (g_speed_to_hall.hori_speed_pid.sum_error > 20000) { // if (g_speed_to_hall.hori_speed_pid.sum_error > 20000) {
g_speed_to_hall.hori_speed_pid.sum_error = 20000; // g_speed_to_hall.hori_speed_pid.sum_error = 20000;
} // }
else if (g_speed_to_hall.hori_speed_pid.sum_error < -20000) { // else if (g_speed_to_hall.hori_speed_pid.sum_error < -20000) {
g_speed_to_hall.hori_speed_pid.sum_error = -20000; // g_speed_to_hall.hori_speed_pid.sum_error = -20000;
} // }
// H_IIncPid = g_speed_to_hall.hori_speed_pid.kp * H_IError + g_speed_to_hall.hori_speed_pid.ki * g_speed_to_hall.hori_speed_pid.sum_error;
H_IIncPid = g_speed_to_hall.hori_speed_pid.k * H_IError;
H_IIncPid = g_speed_to_hall.hori_speed_pid.kp * H_IError + g_speed_to_hall.hori_speed_pid.ki * g_speed_to_hall.hori_speed_pid.sum_error;
// H_IIncPid = g_speed_to_hall.hori_speed_pid.ki * g_speed_to_hall.hori_speed_pid.sum_error; // H_IIncPid = g_speed_to_hall.hori_speed_pid.ki * g_speed_to_hall.hori_speed_pid.sum_error;
// H_IIncPid = PTZ_HORI_PID_HORI_KP; // H_IIncPid = PTZ_HORI_PID_HORI_KP;
@ -890,19 +893,21 @@ static float ptz_vert_pid_calculate(float SampSpeed)
// IIncPid = g_ptz.vert_pid.A * IError + g_ptz.vert_pid.B * g_ptz.vert_pid.LastError + g_ptz.vert_pid.C * g_ptz.vert_pid.PrevError; // IIncPid = g_ptz.vert_pid.A * IError + g_ptz.vert_pid.B * g_ptz.vert_pid.LastError + g_ptz.vert_pid.C * g_ptz.vert_pid.PrevError;
g_speed_to_hall.vert_speed_pid.sum_error += IError; // g_speed_to_hall.vert_speed_pid.sum_error += IError;
if (g_speed_to_hall.vert_speed_pid.sum_error > 20000) { // if (g_speed_to_hall.vert_speed_pid.sum_error > 20000) {
g_speed_to_hall.vert_speed_pid.sum_error = 20000; // g_speed_to_hall.vert_speed_pid.sum_error = 20000;
} // }
else if (g_speed_to_hall.vert_speed_pid.sum_error < -20000) { // else if (g_speed_to_hall.vert_speed_pid.sum_error < -20000) {
g_speed_to_hall.vert_speed_pid.sum_error = -20000; // g_speed_to_hall.vert_speed_pid.sum_error = -20000;
} // }
IIncPid = g_speed_to_hall.vert_speed_pid.kp * IError + g_speed_to_hall.vert_speed_pid.ki * g_speed_to_hall.vert_speed_pid.sum_error; // IIncPid = g_speed_to_hall.vert_speed_pid.kp * IError + g_speed_to_hall.vert_speed_pid.ki * g_speed_to_hall.vert_speed_pid.sum_error;
// IIncPid = PTZ_VERT_PID_VERT_KP * (IError - g_ptz.hori_pid.LastError) + PTZ_VERT_PID_VERT_TI * IError * H_SampTime; // IIncPid = PTZ_VERT_PID_VERT_KP * (IError - g_ptz.hori_pid.LastError) + PTZ_VERT_PID_VERT_TI * IError * H_SampTime;
// IIncPid = g_speed_to_hall.vert_speed_pid.kp * (IError - g_ptz.hori_pid.LastError) + g_speed_to_hall.vert_speed_pid.ki * IError; // IIncPid = g_speed_to_hall.vert_speed_pid.kp * (IError - g_ptz.hori_pid.LastError) + g_speed_to_hall.vert_speed_pid.ki * IError;
IIncPid = g_speed_to_hall.vert_speed_pid.k * IError;
//存储误差，用于下次计算 //存储误差，用于下次计算
g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError; g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError;
g_ptz.vert_pid.LastError = IError; g_ptz.vert_pid.LastError = IError;
@ -1752,8 +1757,8 @@ void get_hori_speed(void)
hallLastNum = hallNum; hallLastNum = hallNum;
//计算PID控制器输出值 //计算PID控制器输出值
// g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual) + g_ptz.hori_pid.LastUT_float; g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual) + g_ptz.hori_pid.LastUT_float;
g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual); // g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual);
//控制PID的输出值增量，当前输出值与上一次输出值的差值必须在某个范围内 //控制PID的输出值增量，当前输出值与上一次输出值的差值必须在某个范围内
//即防止PID增量过大 //即防止PID增量过大
//限定PID输出限定 //限定PID输出限定
@ -1779,8 +1784,8 @@ void get_hori_speed(void)
} }
//将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片 //将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片
// h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint); h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint);
h_pwm_duty_change(450); // h_pwm_duty_change(450);
//将当前PID输出值保存 //将当前PID输出值保存
g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float; g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float;
@ -1791,7 +1796,7 @@ void get_hori_speed(void)
g_speed_to_hall.hori_speed_t.startTime_us = g_speed_to_hall.time_60ms; g_speed_to_hall.hori_speed_t.startTime_us = g_speed_to_hall.time_60ms;
g_speed_to_hall.hori_speed_t.speed = 0; g_speed_to_hall.hori_speed_t.speed = 0;
g_ptz.hori_pid.LastError = 0; g_ptz.hori_pid.LastError = 0;
g_speed_to_hall.hori_speed_pid.sum_error = 0; // g_speed_to_hall.hori_speed_pid.sum_error = 0;
g_ptz.hori_speed_actual = 0; g_ptz.hori_speed_actual = 0;
} }
} }
@ -1812,8 +1817,8 @@ void get_vert_speed(void)
hallLastNum = hallNum; hallLastNum = hallNum;
//计算PID控制器输出值 //计算PID控制器输出值
// g_ptz.vert_pid.PidUT_float = ptz_vert_pid_calculate(g_ptz.vert_speed_actual) + g_ptz.vert_pid.LastUT_float; g_ptz.vert_pid.PidUT_float = ptz_vert_pid_calculate(g_ptz.vert_speed_actual) + g_ptz.vert_pid.LastUT_float;
g_ptz.vert_pid.PidUT_float = ptz_vert_pid_calculate(g_ptz.vert_speed_actual); // g_ptz.vert_pid.PidUT_float = ptz_vert_pid_calculate(g_ptz.vert_speed_actual);
//控制PID的输出值增量，当前输出值与上一次输出值的差值必须在某个范围内 //控制PID的输出值增量，当前输出值与上一次输出值的差值必须在某个范围内
//即防止PID增量过大 //即防止PID增量过大
@ -1839,7 +1844,6 @@ void get_vert_speed(void)
g_ptz.vert_pid.PidUT_uint = PTZ_VERT_VR_MAX; g_ptz.vert_pid.PidUT_uint = PTZ_VERT_VR_MAX;
} }
//将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片 //将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片
v_pwm_duty_change(g_ptz.vert_pid.PidUT_uint); v_pwm_duty_change(g_ptz.vert_pid.PidUT_uint);
@ -1852,7 +1856,7 @@ void get_vert_speed(void)
g_speed_to_hall.vert_speed_t.startTime_us = g_speed_to_hall.time_60ms; g_speed_to_hall.vert_speed_t.startTime_us = g_speed_to_hall.time_60ms;
g_speed_to_hall.vert_speed_t.speed = 0; g_speed_to_hall.vert_speed_t.speed = 0;
g_speed_to_hall.vert_speed_pid.sum_error = 0; // g_speed_to_hall.vert_speed_pid.sum_error = 0;
g_ptz.vert_pid.LastError = 0; g_ptz.vert_pid.LastError = 0;
g_ptz.vert_pid.roll_start = 0; g_ptz.vert_pid.roll_start = 0;

10
APP/Device/Device_speed/speed_to_bldc.c.rej Normal file
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@ -0,0 +1,10 @@
diff a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c (rejected hunks)
@@ -112,7 +112,7 @@
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
H_IIncPid = g_ptz.hori_pid.A * H_IError + g_ptz.hori_pid.B * g_ptz.hori_pid.LastError + g_ptz.hori_pid.C * g_ptz.hori_pid.PrevError;
- // H_IIncPid = PTZ_HORI_PID_HORI_KP;
+ // H_IIncPid = PTZ_HORI_PID_HORI_KP * (H_IError - g_ptz.hori_pid.LastError) + PTZ_HORI_PID_HORI_TI * H_IError;
//<2F>洢<EFBFBD><E6B4A2><EFBFBD><EEA3AC><EFBFBD><EFBFBD><EFBFBD>´μ<C2B4><CEBC><EFBFBD>

8
APP/Device/Device_speed/speed_to_bldc.h
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@ -233,16 +233,16 @@
// #define PTZ_HALL_SPEED_SL 1 // #define PTZ_HALL_SPEED_SL 1
#define PTZ_HORI_PID_T 30u #define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 25.0 //比例系数 #define PTZ_HORI_PID_HORI_KP 5.0 //比例系数
#define PTZ_HORI_PID_HORI_TI 0.5 //积分系数 #define PTZ_HORI_PID_HORI_TI 1.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数 #define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定 #define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#define PTZ_HORI_PID_OUTPUT_LIMIT 400.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异 #define PTZ_HORI_PID_OUTPUT_LIMIT 400.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_VERT_PID_T 30u #define PTZ_VERT_PID_T 30u
#define PTZ_VERT_PID_VERT_KP 80.0 //比例系数 #define PTZ_VERT_PID_VERT_KP 5.0 //比例系数
#define PTZ_VERT_PID_VERT_TI 7.0 //积分系数 #define PTZ_VERT_PID_VERT_TI 1.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数 #define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定 #define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定

5
BSP/Driver/speed/speed_to_hall.h
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@ -24,10 +24,7 @@ typedef struct _speed_t {
}speed_t; }speed_t;
typedef struct _speed_pid_t { typedef struct _speed_pid_t {
float kp; float k;
float ki;
float kd;
float sum_error; //积分误差
}speed_pid_t; }speed_pid_t;
typedef struct _speed_to_hall { typedef struct _speed_to_hall {