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basic_framework
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完成PID参数的调试

This commit is contained in:
周楚杰 2023-10-19 21:08:43 +08:00
parent 0154d1164a
commit 29c6b56489
1 changed files with 9 additions and 9 deletions
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18
application/gimbal/gimbal.c
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@ -26,9 +26,9 @@ void GimbalInit()
}, },
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
.Kp = 8, // 8 .Kp = 30, // 8
.Ki = 0, .Ki = 0,
.Kd = 0, .Kd = 1,
.DeadBand = 0.1, .DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100, .IntegralLimit = 100,
@ -36,9 +36,9 @@ void GimbalInit()
.MaxOut = 500, .MaxOut = 500,
}, },
.speed_PID = { .speed_PID = {
.Kp = 50, // 50 .Kp = 70, // 50
.Ki = 200, // 200 .Ki = 200, // 200
.Kd = 0, .Kd = 10,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 3000, .IntegralLimit = 3000,
.MaxOut = 20000, .MaxOut = 20000,
@ -63,17 +63,17 @@ void GimbalInit()
}, },
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
.Kp = 10, // 10 .Kp = 50, // 10
.Ki = 0, .Ki = 0,
.Kd = 0, .Kd = 1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100, .IntegralLimit = 100,
.MaxOut = 500, .MaxOut = 500,
}, },
.speed_PID = { .speed_PID = {
.Kp = 50, // 50 .Kp = 100, // 50
.Ki = 350, // 350 .Ki = 0, // 350
.Kd = 0, // 0 .Kd = 3, // 0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 2500, .IntegralLimit = 2500,
.MaxOut = 20000, .MaxOut = 20000,