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add ffc controller

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tuxmonkey
2026-02-12 01:12:05 +08:00
parent 8458a4ffe7
commit 75f7c3defd
2 changed files with 6 additions and 4 deletions
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7
User_Code/module/algorithm/controller/pid/pid.c
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@@ -2,13 +2,15 @@
* @file controller.c
* @author wanghongxi
* @author modified by TuxMonkey
* @brief PID控制器定义
* @brief PID控制器及前馈控制器
* @version beta
* @date 2026-02-12
*
* @copyright Copyright (c) 2025 DLMU.CONE EC all rights reserved
*/
#include "pid.h"
#include "ffc.h"
#include "memory.h"
/* ----------------------------下面是pid优化环节的实现---------------------------- */
@@ -80,7 +82,8 @@ static void f_Output_Filter(PIDInstance *pid)
pid->Last_Output * pid->Output_LPF_RC / (pid->Output_LPF_RC + pid->dt);
}
// 前馈控制计算
// 前馈控制计算（后续考虑写成电流/速度前馈）
static void f_FeedForward_Control(PIDInstance *pid)
{
// 更新设定值历史