TuxMonkey/half-steering-basic-framework
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changed pid param for steer motor

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fcl
2026-03-14 14:15:41 +08:00
parent fa85ac8e2a
commit 52e8018b2c
4 changed files with 22 additions and 20 deletions
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10
application/chassis/chassis.c
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@@ -113,7 +113,7 @@ void ChassisInit()
.can_init_config.can_handle = &hcan1,
.controller_param_init_config = {
.angle_PID = {
.Kp = 12,
.Kp = 50,//15
.Ki = 0.2,
.Kd = 0,
.CoefA = 3,
@@ -125,7 +125,7 @@ void ChassisInit()
.DeadBand = 0.5,
},
.speed_PID = {
.Kp = 40,
.Kp = 50,//25
.Ki = 3,
.Kd = 0,
.Improve = PID_Integral_Limit | PID_Derivative_On_Measurement | PID_ChangingIntegrationRate | PID_OutputFilter,
@@ -154,7 +154,7 @@ void ChassisInit()
.Kp = 1.05, // 6
.Ki = 0,
.Kd = 0.1, // 0.495
.DeadBand = 0.5f,// 启用死区，值为0.5度
// .DeadBand = 0.5f,// 启用死区，值为0.5度
//.CoefA = 0.2,
//.CoefB = 0.3,
//.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement,
@@ -412,7 +412,9 @@ void ChassisTask()
{
single_round_offset += 360.0f;
}
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
// chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
// chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0)/100;
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略