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STM32G4-DRV8301-FOC/FOC_Related/PID/pid.c

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2024-07-22 13:55:29 +08:00
/*
* <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>: pid.c
* <EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD>debug<EFBFBD>汾<EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>: MichaelKing
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 2024-06-26
* <EFBFBD>汾: 1.0
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>: <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>뻷<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>pid<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* <EFBFBD><EFBFBD>ʷ<EFBFBD><EFBFBD>¼:
* <EFBFBD>汾 1.0 - 2024-06-26 - MichaelKing
* <EFBFBD><EFBFBD>ʼ<EFBFBD>汾<EFBFBD><EFBFBD>
*/
#include "pid.h"
pid pid_angle; // <20><><EFBFBD><EFBFBD><EFBFBD>ǶȻ<C7B6>pid
pid pid_speed; // <20><><EFBFBD><EFBFBD><EFBFBD>ٶȻ<D9B6>pid
pid pid_current; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>pid
/**********************
PID<EFBFBD><EFBFBD><EFBFBD>ú<EFBFBD><EFBFBD><EFBFBD>:
**********************/
void PID_init() // <20><>ʼ<EFBFBD><CABC>pid<69><64><EFBFBD><EFBFBD>
{
// λ<>û<EFBFBD>pid
完成ABZ编码器调试
2024-07-27 22:33:57 +08:00
pid_angle.Set = 0.0f; // <20><><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF>ֵ<EFBFBD><D6B5>ʼ<EFBFBD><CABC>Ϊ0
pid_angle.Actual = 0.0f; // ʵ<><CAB5>ֵ<EFBFBD><D6B5>ʼ<EFBFBD><CABC>Ϊ0
pid_angle.err = 0.0f; // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
pid_angle.err_last = 0.0f; // <20>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
pid_angle.voltage = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9>ʼ<EFBFBD><CABC>Ϊ0
pid_angle.integral = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
pid_angle.Kp = 0.05f; // λ<>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.043
pid_angle.Ki = 0.0005f; // λ<>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.0005
pid_angle.Kd = 0.25f; // λ<>û<EFBFBD>΢<EFBFBD><CEA2>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.22
//
// // <20>ٶȻ<D9B6>pid<69><64>AS5600<30><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// pid_speed.Set = 0.0f; // <20><><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF>ֵ<EFBFBD><D6B5>ʼ<EFBFBD><CABC>Ϊ0
// pid_speed.Actual = 0.0f; // ʵ<><CAB5>ֵ<EFBFBD><D6B5>ʼ<EFBFBD><CABC>Ϊ0
// pid_speed.err = 0.0f; // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
// pid_speed.err_last = 0.0f; // <20>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
// pid_speed.voltage = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9>ʼ<EFBFBD><CABC>Ϊ0
// pid_speed.integral = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
// pid_speed.Kp = 0.0001f; // <20>ٶȻ<D9B6><C8BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.11
// pid_speed.Ki = 0.0005f; // <20>ٶȻ<D9B6><C8BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.005
// pid_speed.Kd = 0.00001f; // <20>ٶȻ<D9B6>΢<EFBFBD><CEA2>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.0008
//
// <20>ٶȻ<D9B6>pid<69><64>ABZ<42><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
readme 更新
2024-07-28 22:53:27 +08:00
pid_speed.Set = 0.0f; // <20><><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF>ֵ<EFBFBD><D6B5>ʼ<EFBFBD><CABC>Ϊ0
pid_speed.Actual = 0.0f; // ʵ<><CAB5>ֵ<EFBFBD><D6B5>ʼ<EFBFBD><CABC>Ϊ0
pid_speed.err = 0.0f; // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
pid_speed.err_last = 0.0f; // <20>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
pid_speed.voltage = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9>ʼ<EFBFBD><CABC>Ϊ0
pid_speed.integral = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
pid_speed.Kp = 0.002f; // <20>ٶȻ<D9B6><C8BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.11
pid_speed.Ki = 0.0005f; // <20>ٶȻ<D9B6><C8BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.005
pid_speed.Kd = 0.00001f; // <20>ٶȻ<D9B6>΢<EFBFBD><CEA2>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.0008
files upload
2024-07-22 13:55:29 +08:00
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>pid
完成ABZ编码器调试
2024-07-27 22:33:57 +08:00
pid_current.Set = 0.0f; // <20><><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF>ֵ<EFBFBD><D6B5>ʼ<EFBFBD><CABC>Ϊ0
pid_current.Actual = 0.0f; // ʵ<><CAB5>ֵ<EFBFBD><D6B5>ʼ<EFBFBD><CABC>Ϊ0
pid_current.err = 0.0f; // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
pid_current.err_last = 0.0f; // <20>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
pid_current.voltage = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9>ʼ<EFBFBD><CABC>Ϊ0
pid_current.integral = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0
files upload
2024-07-22 13:55:29 +08:00
pid_current.Kp = 0.045f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.03
完成ABZ编码器调试
2024-07-27 22:33:57 +08:00
pid_current.Ki = 0.005f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.001
pid_current.Kd = 0.000f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>΢<EFBFBD><CEA2>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>Ϊ0.0008
files upload
2024-07-22 13:55:29 +08:00
}
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