From 1116b68ead2d99a9fa1cff38df0c7081e16bddd3 Mon Sep 17 00:00:00 2001 From: xushenghao Date: Sun, 8 Dec 2024 17:44:09 +0800 Subject: [PATCH] 111 --- MDK-ARM/motor/motor.hex | 528 +++++++++++++++---------------- User/application/work.c | 2 +- User/lib/control/src/pid_fuzzy.c | 4 +- 3 files changed, 267 insertions(+), 267 deletions(-) diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex index 503ade7..cbdabeb 100644 --- a/MDK-ARM/motor/motor.hex +++ b/MDK-ARM/motor/motor.hex @@ -164,7 +164,7 @@ :100A200033439A42A2F2334202DC5242FFF734BF10 :100A3000FFF723BF064C074D06E0E06840F00103D6 :100A400094E8070098471034AC42F6D3FFF752FB06 -:100A5000B46B0008D46B000800BFFEE770B5044615 +:100A5000B86B0008D86B000800BFFEE770B504460D :100A60000D4600BF2CB904F079FD01E000BF00BFC6 :100A7000FCE700BF012070BD10B50248006804F01B :100A8000FCFD10BD6400002010B50248006804F0B1 @@ -180,29 +180,29 @@ :100B200089690143034A9161114689690140009135 :100B300000BF08BD0010024010B54A1E044B9A5C6D 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= DEAD_ZONE_BOTH; - work.pid_params.dead_zone = 0; + work.pid_params.dead_zone = 1; if (work.type == WORK_MOTOR_POS) { diff --git a/User/lib/control/src/pid_fuzzy.c b/User/lib/control/src/pid_fuzzy.c index 5842699..2d73187 100644 --- a/User/lib/control/src/pid_fuzzy.c +++ b/User/lib/control/src/pid_fuzzy.c @@ -13,10 +13,10 @@ #define PL 3 // 定义偏差E的范围，因为设置了非线性区间，误差在10时才开始进行PID调节，这里E的范围为10 -#define MAXE (90) +#define MAXE (100) #define MINE (-MAXE) // 定义EC的范围，因为变化非常缓慢！，每次的EC都非常小，这里可以根据实际需求来调整， -#define MAXEC (90) +#define MAXEC (100) #define MINEC (-MAXEC) // 定义e,ec的量化因子 #define KE 3 / MAXE