111

MDK-ARM/motor/motor.hex

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User/application/work.c

@@ -218,7 +218,7 @@ void work_init(void)
         work.pid.type = PID_TYPE_FUZZY;
         work.pid.pid_u.fuzzy.deadzone_dir = DEAD_ZONE_BOTH;
 
-        work.pid_params.dead_zone = 0;
+        work.pid_params.dead_zone = 1;
 
         if (work.type == WORK_MOTOR_POS)
         {

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