From de68a0b1a994c2c751f750ef38a65cc52ce55884 Mon Sep 17 00:00:00 2001 From: xushenghao Date: Mon, 9 Dec 2024 19:21:37 +0800 Subject: [PATCH] 222 --- MDK-ARM/motor.uvoptx | 2 +- MDK-ARM/motor/motor.hex | 1840 ++++++++++++++++---------------- User/application/app.c | 2 + User/application/work.c | 16 +- User/application/work.h | 2 + User/lib/control/inc/s_curve.h | 30 + User/lib/control/src/s_curve.c | 171 +++ 7 files changed, 1142 insertions(+), 921 deletions(-) create mode 100644 User/lib/control/inc/s_curve.h create mode 100644 User/lib/control/src/s_curve.c diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx index 60050b9..a1bc93b 100644 --- a/MDK-ARM/motor.uvoptx +++ b/MDK-ARM/motor.uvoptx @@ -177,7 +177,7 @@ 0 1 - 0 + 1 0 0 0 diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex index cbdabeb..4d69842 100644 --- a/MDK-ARM/motor/motor.hex +++ b/MDK-ARM/motor/motor.hex @@ -14,7 +14,7 @@ :1000C0001F0100081F0100081F0100081F01000890 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+:106BF00000004040146C00080000002078000000F5 +:106C0000382300088C6C000878000020C81F0000A2 +:106C1000482300080024F4000000000000000000E9 +:106C20000000000000000000000000000000000064 +:106C30000000000000000000000000000000000054 +:106C40000000000000000000000000000000000044 +:106C5000000000000000000015470008014800087F +:106C6000400400204000002040140020420000208A +:106C700000000000000000000000000006610008A5 +:0C6C80000C610008C6E533B47D26000856 :04000005080000ED02 :00000001FF diff --git a/User/application/app.c b/User/application/app.c index abed0d0..02e4874 100644 --- a/User/application/app.c +++ b/User/application/app.c @@ -21,6 +21,8 @@ static uint8_t business_inspection(struct flow *fl) ssd1306_clear_buffer(); ssd1306_f8x16_string(0, 0, " PERCENT:"); ssd1306_f8x16_number(88, 0, work.pwm_percent, 0); + ssd1306_f8x16_string(0, 2, " CUR:"); + ssd1306_f8x16_number(48, 2, work.encoder_cnt, 0); ssd1306_update_screen(); break; case WORK_MOTOR_POS: diff --git a/User/application/work.c b/User/application/work.c index 87c6052..4d805d6 100644 --- a/User/application/work.c +++ b/User/application/work.c @@ -46,6 +46,10 @@ static void pwm_map(void) set_motor_pwm(work.pwm_percent); } +static void pwm_s_curve(void) +{ +} + static void motor_pos(void) { int32_t code = work.encoder_cnt; @@ -82,7 +86,8 @@ static void pwm_map_key_handle(button_id_e id) } break; case KEY_S: - work.pwm_percent = 0; + work.pwm_percent = 10; + work.encoder_cnt = 0; break; default: break; @@ -181,6 +186,9 @@ void work_process(void) case WORK_MOTOR_SPEED: motor_speed(); break; + case WORK_S_CURVE: + pwm_s_curve(); + break; default: break; } @@ -210,7 +218,7 @@ void work_init(void) PWM_SET_DUTY(PWM_TIM, PWM_CHANNEL, 0); work.pwm_feq = PWM_GET_FREQ(PWM_TIM); work.pwm_arr = PWM_GET_ARR(PWM_TIM); - work.type = WORK_MOTOR_SPEED; + work.type = WORK_PWM_MAP; // PID初始化 @@ -264,6 +272,10 @@ void work_init(void) work.target_pos = TARGET_POS; work.target_speed = TARGET_SPEED; work.timer_cycle = TIM_CYCLE(WORK_TIM); + if (work.type == WORK_PWM_MAP) + { + work.pwm_percent = 10; + } return; } diff --git a/User/application/work.h b/User/application/work.h index aa56732..0f41902 100644 --- a/User/application/work.h +++ b/User/application/work.h @@ -13,6 +13,8 @@ typedef enum WORK_MOTOR_POS = 1, // 电机速度控制 WORK_MOTOR_SPEED = 2, + // S曲线 + WORK_S_CURVE = 3, } work_e; typedef struct diff --git a/User/lib/control/inc/s_curve.h b/User/lib/control/inc/s_curve.h new file mode 100644 index 0000000..4f2a419 --- /dev/null +++ b/User/lib/control/inc/s_curve.h @@ -0,0 +1,30 @@ +#ifndef __S_CURVE_H +#define __S_CURVE_H +#include "lib.h" + +typedef struct +{ + // 起始频率 + float32 f0; + // 加加速段斜率 + float32 faa; + // 减减速段斜率 + float32 frr; + // 加加速段时间 + float32 taa; + // 匀加速段时间 + float32 tua; + // 减加速段时间 + float32 tra; + // 匀速段时间 + float32 tuu; + // 加减速段时间 + float32 tar; + // 匀减速段时间 + float32 tur; + // 减减速段时间 + float32 trr; +} s_curve_t; + +void s_curve_table_gen(uint16_t tmin, uint16_t tmax); +#endif // __S_CURVE_H diff --git a/User/lib/control/src/s_curve.c b/User/lib/control/src/s_curve.c new file mode 100644 index 0000000..9d40b6c --- /dev/null +++ b/User/lib/control/src/s_curve.c @@ -0,0 +1,171 @@ +#include "s_curve.h" + +// s曲线加速度各段参数定义 +// 起始速度 +#define F0 0.0f + +// 加加速度与减减速度 +#define FAA 0.0f +#define FRR 0.0f + +// 加速段三个时间 +#define TAA 0.1f +#define TUA 0.2f +#define TRA 0.1f + +// 匀速段 +#define TUU 5.0f + +// 减速段 +#define TAR 0.1f +#define TUR 0.2f +#define TRR 0.1f + +// 表格长度 +#define S_CURVE_TABLE_LEN 400 +int16_t s_curve_table[S_CURVE_TABLE_LEN] = {0}; + +static int16_t s_curve_func(s_curve_t *s, float32 t, float32 *freq, float32 *acc) +{ + // 辅助常数项 + float32 A, B, C, D, E, F; + // 表达式中间值 + float32 f3, f4, f5; + // 加速段，匀速段，减速段时间 + float32 Ta, Tu, Tr; + // 减加速与加减速段斜率 + float32 fra, far; + // 起始频率与加加速频率，减减速频率 + float32 f0, faa, frr; + float32 taa, tua, tra, tuu, tar, tur, trr; + + // 获取参数 + faa = s->faa; + frr = s->frr; + + taa = s->taa; + tua = s->tua; + tra = s->tra; + tuu = s->tuu; + tar = s->tar; + tur = s->tur; + trr = s->trr; + + f0 = s->f0; + + fra = faa * taa / tra; + far = frr * trr / tar; + + Ta = taa + tua + tra; + Tu = tuu; + Tr = tar + tur + trr; + + A = f0; + B = f0 - 0.5 * faa * taa * taa; + C = f0 + 0.5 * faa * taa * taa + faa * taa * tua + 0.5 * fra * (taa + tua) * (taa + tua) - fra * Ta * (taa + tua); + + // f1 = f0 + 0.5 * faa * taa * taa; + // f2 = f0 + 0.5 * faa * taa * taa + faa * taa * tua; + f3 = 0.5 * fra * Ta * Ta + C; + + D = f3 - 0.5 * far * (Ta + Tu) * (Ta + Tu); + f4 = -far * 0.5 * (Ta + Tu + tar) * (Ta + Tu + tar) + far * (Ta + Tu) * (Ta + Tu + tar) + D; + + E = f4 + far * tar * (Ta + Tu + tar); + f5 = -far * tar * (Ta + Tu + Tr - trr) + E; + + F = f5 + frr * (Ta + Tu + Tr) * (Ta + Tu + Tr - trr) - 0.5 * frr * (Ta + Tu + Tr - trr) * (Ta + Tu + Tr - trr); + + // 如果时间点在全行程规定的时间段内 + if ((t >= 0) && (t <= Ta + Tu + Tr)) + { + // 加加速段 + if ((t >= 0) && (t <= taa)) + { + *freq = 0.5 * faa * t * t + A; + *acc = faa * t; + } + // 匀加速段 + else if ((t >= taa) && (t <= taa + tua)) + { + *freq = faa * taa * t + B; + *acc = faa * taa; + } + // 加减速段 + else if ((t >= taa + tua) && (t <= taa + tua + tra)) + { + *freq = -0.5 * fra * t * t + fra * Ta * t + C; + *acc = -fra * t + fra * Ta; + } + // 匀速段 + else if ((t >= Ta) && (t <= Ta + tuu)) + { + *freq = f3; + *acc = 0; + } + // 加减速段 + else if ((t >= Ta + Tu) && (t <= Ta + Tu + tar)) + { + *freq = -0.5 * far * t * t + far * (Ta + Tu) * t + D; + *acc = -far * t + far * (Ta + Tu); + } + // 匀减速 + else if ((t >= Ta + Tu + tar) && (t <= Ta + Tu + tar + tur)) + { + *freq = -far * tar * t + E; + *acc = -far * tar; + } + // 减减速 + else if ((t >= Ta + Tu + Tr - trr) && (t <= Ta + Tu + Tr)) + { + *freq = 0.5 * frr * t * t - frr * (Ta + Tu + Tr) * t + F; + *acc = frr * t - frr * (Ta + Tu + Tr); + } + } + else + { + return -1; + } + + return 0; +} + +// S型曲线初始化 +void s_curve_table_gen(uint16_t tmin, uint16_t tmax) +{ + uint16_t i, tint; + float32 ti; + float32 freq; + float32 acc; + float32 fi; + s_curve_t s; + osel_memset((uint8_t *)&s, 0, sizeof(s_curve_t)); + + s.f0 = F0; + s.taa = TAA; + s.tua = TUA; + s.tra = TRA; + s.tuu = TUU; + s.tar = TAR; + s.tur = TUR; + s.trr = TRR; + + // 根据约束条件求出加加速段与减减速段斜率 + s.faa = 2.0 / (s.taa * (s.taa + s.tra + 2 * s.tua)); + s.frr = 2.0 / (s.trr * (s.tar + s.trr + 2 * s.tur)); + + for (i = 0; i < S_CURVE_TABLE_LEN; i++) + { + // 求出每个时间点对应的频率以及加速度 + fi = i * (TAA + TUA + TRA + TUU + TAR + TUR + TRR) / S_CURVE_TABLE_LEN; + s_curve_func(&s, fi, &freq, &acc); + + // 根据最大与最小装载值确定定时器实际值 + ti = tmax - (tmax - tmin) * freq; + // 转换为整数值 + tint = (uint16_t)ti; + + // 存入s曲线表 + s_curve_table[i] = tint; + } +}