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位置式完成

This commit is contained in:
许晟昊 2024-12-08 10:30:14 +08:00
parent 7000565792
commit 4d406fcf97
4 changed files with 891 additions and 830 deletions
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1666
MDK-ARM/motor/motor.hex
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File diff suppressed because it is too large Load Diff

7
User/application/app.c
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@ -24,7 +24,12 @@ static uint8_t business_inspection(struct flow *fl)
ssd1306_update_screen();
break;
case WORK_MOTOR_POS:
/* code */
ssd1306_clear_buffer();
ssd1306_f8x16_string(0, 0, " TAR:");
ssd1306_f8x16_number(48, 0, work.target_pos, 1);
ssd1306_f8x16_string(0, 2, " CUR:");
ssd1306_f8x16_number(48, 2, work.encoder_cnt, 1);
ssd1306_update_screen();
break;
case WORK_MOTOR_SPEED:
/* code */

43
User/application/work.c
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@ -11,6 +11,8 @@ static void pwm_map(void)
static void motor_pos(void)
{
work.pid.sub_type = PID_SUB_TYPE_POSITION;
work.pwm_percent = work.pid.pid_u.fuzzy.execute(&work.pid.pid_u.fuzzy, work.target_pos, work.encoder_cnt);
set_motor_pwm(work.pwm_percent);
}
static void motor_speed(void)
@ -46,6 +48,33 @@ static void pwm_map_key_handle(button_id_e id)
static void motot_pos_key_handle(button_id_e id)
{
int8_t min = -100, max = 100;
int8_t step = 10;
switch (id)
{
case KEY_ADD:
if (work.target_pos < max)
{
work.target_pos += step;
}
break;
case KEY_SUB:
if (work.target_pos > min)
{
work.target_pos -= step;
}
break;
case KEY_S:
work.target_pos = 50;
break;
default:
break;
}
if (work.target_pos == 0)
{
work.encoder_cnt = 0;
}
}
static void motor_speed_key_handle(button_id_e id)
@ -110,11 +139,11 @@ void work_init(void)
PWM_SET_DUTY(PWM_TIM, PWM_CHANNEL, 0);
work.pwm_feq = PWM_GET_FREQ(PWM_TIM);
work.type = WORK_PWM_MAP;
work.pid_params.kp = 100;
work.pid_params.ki = 0.01;
work.pid_params.kd = 50;
work.pid_params.dead_zone = 0;
work.type = WORK_MOTOR_POS;
work.pid_params.kp = 1;
work.pid_params.ki = 0.01f;
work.pid_params.kd = 5;
work.pid_params.dead_zone = 0.5f;
// PID初始化
{
@ -123,8 +152,10 @@ void work_init(void)
work.pid.pid_u.fuzzy.deadzone_dir = DEAD_ZONE_BOTH;
pid_constructor(&work.pid);
work.pid.pid_u.fuzzy.set_ctrl_prm(&work.pid.pid_u.fuzzy, work.pid_params.kp, work.pid_params.ki,
work.pid_params.kd, work.pid_params.dead_zone, 0, -100, 100);
work.pid_params.kd, work.pid_params.dead_zone, 0, -90, 90); // 电机输出不要超过90
work.pid.pid_u.fuzzy.set_kd_enable(&work.pid.pid_u.fuzzy, TRUE);
}
work.target_pos = 20;
return;
}

5
User/application/work.h
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@ -23,7 +23,6 @@ typedef struct
uint32_t pwm_feq; // PWM频率
pid_t pid;
struct
{
float32 kp;
@ -31,6 +30,10 @@ typedef struct
float32 kd;
float32 dead_zone;
} pid_params;
float32 target_pos; // 目标位置
float32 target_speed; // 目标速度
} work_t;
extern work_t work;