速度过滤

秘密花园

速度需不需要过滤？
void speed_control_filter()
{
    //x=speed_now+angle_err*acce_dt;
    speed_kalman_P=speed_kalman_P+speed_Q;
    speed_K=speed_kalman_P/(speed_kalman_P+speed_R);
    speed_control_filted+=speed_K*(speed_control_value-speed_control_filted);
    speed_kalman_P=(1-speed_K)*speed_kalman_P;

    speed_control_value=speed_control_filted;

凤羽

编码器采集的数据进行一次除噪，一次平滑即可。LZ做除法影响处理速度。