智能车制作

标题: 速度增量式PID [打印本页]

作者: GZFSJK 时间: 2017-4-9 12:15
标题: 速度增量式PID
int16_t  SpeedKP = 4 ;
int16_t  SpeedKI = 0 ;
int16_t  SpeedKD = 2 ;
//int16_t  SpeedPWM = 0 ;

int16_t SpeedPID(uint16_t speedCount,uint16_t AmSpeed)// 比较经典的增量式PID
{                                              // 请参考相关PID的资料
  // 在此不做展开
  static int16_t LastSpeedCut0,LastSpeedCut1,LastSpeedCut2 ,SpeedLastPWMK ;
  int16_t  SpeedPWMKP ,SpeedPWMKI ,SpeedPWMKD,SpeedPWMK ;
  int16_t  SpeedPWMOUT;
  int16_t  SpeedDifference0=0;
  int16_t  speedDEARE1,speedDEARE2,DSpeed ;


  LastSpeedCut0 = (int16_t) speedCount ;
  DSpeed =(int16_t) AmSpeed ;

  SpeedDifference0 = DSpeed - LastSpeedCut0  ;

  speedDEARE1 = LastSpeedCut0 - LastSpeedCut1;
  speedDEARE2 = LastSpeedCut2+LastSpeedCut0-2*LastSpeedCut1;
  LastSpeedCut2  = LastSpeedCut1;
  LastSpeedCut1  = LastSpeedCut0;


  SpeedPWMKP = SpeedKP*SpeedDifference0;

  if(SpeedPWMKP>KPPLUSMAX)
  {
SpeedPWMKP = KPPLUSMAX;
  }
  else if (SpeedPWMKP <KPNEGATIVEMAX)
  {
SpeedPWMKP = KPNEGATIVEMAX;
  }


  SpeedPWMKI = SpeedKI* speedDEARE1;
  if(SpeedPWMKI > KIPLUSMAX)
  {
SpeedPWMKI = KIPLUSMAX;
  }
  else if(SpeedPWMKI < KINEGATIVEMAX)
  {
SpeedPWMKI = KINEGATIVEMAX;
  }

  SpeedPWMKD = SpeedKD* speedDEARE2;

  if(SpeedPWMKD > KDPLUSMAX)
  {
SpeedPWMKD = KDPLUSMAX;
  }
  else if(SpeedPWMKD < KDNEGATIVEMAX)
  {
SpeedPWMKD = KDNEGATIVEMAX;
  }

  SpeedPWMK = SpeedPWMKD+SpeedPWMKI+SpeedPWMKP ;

  if(SpeedPWMK > KWPLUSMAX)
  {
SpeedPWMK = KWPLUSMAX;
  }
  else if(SpeedPWMK < KWNEGATIVEMAX)
  {
SpeedPWMK = KWNEGATIVEMAX;
  }

  SpeedPWMOUT = SpeedLastPWMK + SpeedPWMK;
  if(SpeedPWMOUT < 0 )
  {
SpeedPWMOUT = 0 ;
  }
  else if(SpeedPWMOUT > KOUPLUSMAX)
  {
SpeedPWMOUT = KOUPLUSMAX ;
  }
  SpeedLastPWMK = SpeedPWMOUT ;
  // uart_putchar(UART0,SpeedPWMOUT);
  // uart_putchar(UART0,SpeedPWMK);
  return  SpeedPWMOUT ;

}
有采集的速度，有目标速度，但是输出的速度达不到目标速度，总是在限幅速度输出，怎么破。求大神指教。

作者: zhou1994 时间: 2017-4-9 13:13
这变量命名，肯定过不了code review

作者: yyuiopxx 时间: 2017-4-9 13:21
我想问的是，楼主有没有好的调参经验分享一下呗；感谢！

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