TuxMonkey/half-steering-basic-framework
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fcl
2026-03-11 20:37:35 +08:00
committed by guoxy06
parent dc0d98d0a6
commit bd9314aa7a
4 changed files with 11 additions and 11 deletions
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12
modules/algorithm/controller.c
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@@ -61,10 +61,10 @@ static void f_Integral_Limit(PIDInstance *pid)
}
// 微分先行(仅使用反馈值而不计参考输入的微分)
// static void f_Derivative_On_Measurement(PIDInstance *pid)
// {
// pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
// }
static void f_Derivative_On_Measurement(PIDInstance *pid)
{
pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
}
// 微分滤波(采集微分时,滤除高频噪声)
static void f_Derivative_Filter(PIDInstance *pid)
@@ -172,8 +172,8 @@ float PIDCalculate(PIDInstance *pid, float measure, float ref)
if (pid->Improve & PID_ChangingIntegrationRate)
f_Changing_Integration_Rate(pid);
// 微分先行
// if (pid->Improve & PID_Derivative_On_Measurement)
// f_Derivative_On_Measurement(pid);
if (pid->Improve & PID_Derivative_On_Measurement)
f_Derivative_On_Measurement(pid);
// 微分滤波器
if (pid->Improve & PID_DerivativeFilter)
f_Derivative_Filter(pid);