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speed_feedforward

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LTS 2023-10-15 18:06:23 +08:00
parent eb0d9d8187
commit 81099d79f1
2 changed files with 12 additions and 2 deletions
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10
modules/motor/DJImotor/dji_motor.c
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@ -240,7 +240,8 @@ void DJIMotorControl()
Motor_Controller_s *motor_controller; // 电机控制器 Motor_Controller_s *motor_controller; // 电机控制器
DJI_Motor_Measure_s *measure; // 电机测量值 DJI_Motor_Measure_s *measure; // 电机测量值
float pid_measure, pid_ref; // 电机PID测量值和设定值 float pid_measure, pid_ref; // 电机PID测量值和设定值
float speed_acceleration; // 加速度
// 遍历所有电机实例,进行串级PID的计算并设置发送报文的值 // 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
for (size_t i = 0; i < idx; ++i) for (size_t i = 0; i < idx; ++i)
{ // 减小访存开销,先保存指针引用 { // 减小访存开销,先保存指针引用
@ -268,7 +269,14 @@ void DJIMotorControl()
if ((motor_setting->close_loop_type & SPEED_LOOP) && (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))) if ((motor_setting->close_loop_type & SPEED_LOOP) && (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
{ {
if (motor_setting->feedforward_flag & SPEED_FEEDFORWARD) if (motor_setting->feedforward_flag & SPEED_FEEDFORWARD)
{
// 计算加速度，并作为前馈数据
speed_acceleration = motor_controller->speed_PID.Measure - motor_controller->speed_PID.Last_Measure;
if(speed_acceleration >= SPEED_FEEDFORWARD_MAX_DIFFERENTIABLE) // 防止微分无穷大
speed_acceleration = SPEED_FEEDFORWARD_MAX_DIFFERENTIABLE;
motor_controller->speed_feedforward_ptr = &speed_acceleration;
pid_ref += *motor_controller->speed_feedforward_ptr; pid_ref += *motor_controller->speed_feedforward_ptr;
}
if (motor_setting->speed_feedback_source == OTHER_FEED) if (motor_setting->speed_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_speed_feedback_ptr; pid_measure = *motor_controller->other_speed_feedback_ptr;

4
modules/motor/DJImotor/dji_motor.h
View File

@ -26,7 +26,9 @@
/* 滤波系数设置为1的时候即关闭滤波 */ /* 滤波系数设置为1的时候即关闭滤波 */
#define SPEED_SMOOTH_COEF 0.85f // 最好大于0.85 #define SPEED_SMOOTH_COEF 0.85f // 最好大于0.85
#define CURRENT_SMOOTH_COEF 0.9f // 必须大于0.9 #define CURRENT_SMOOTH_COEF 0.9f // 必须大于0.9
#define ECD_ANGLE_COEF_DJI 0.043945f // (360/8192),将编码器值转化为角度制 #define ECD_ANGLE_COEF_DJI 0.043945f // (360/8192),将编码器值转化为角度制、
#define SPEED_FEEDFORWARD_MAX_DIFFERENTIABLE 3000
/* DJI电机CAN反馈信息*/ /* DJI电机CAN反馈信息*/
typedef struct typedef struct