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add ffc controller

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tuxmonkey
2026-02-12 01:03:41 +08:00
parent 8f22f67c5a
commit 8458a4ffe7
1 changed files with 10 additions and 10 deletions
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20
User_Code/module/algorithm/controller/pid/pid.h
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@@ -28,16 +28,16 @@
// PID 优化环节使能标志位
typedef enum
{
PID_IMPROVE_NONE = 0b000000000, // 无优化
PID_Integral_Limit = 0b000000001, // 积分限幅
PID_Derivative_On_Measurement = 0b000000010, // 微分先行
PID_Trapezoid_Intergral = 0b000000100, // 梯形积分
PID_Proportional_On_Measurement = 0b000001000, // 比例先行
PID_OutputFilter = 0b000010000, // 输出滤波
PID_ChangingIntegrationRate = 0b000100000, // 变速积分
PID_DerivativeFilter = 0b001000000, // 微分滤波
PID_ErrorHandle = 0b010000000, // 错误处理
PID_FeedForward = 0b100000000, // 前馈控制
PID_IMPROVE_NONE = 0b000000000, // 无优化 0
PID_Integral_Limit = 0b000000001, // 积分限幅 1
PID_Derivative_On_Measurement = 0b000000010, // 微分先行 2
PID_Trapezoid_Intergral = 0b000000100, // 梯形积分 4
PID_Proportional_On_Measurement = 0b000001000, // 比例先行 8
PID_OutputFilter = 0b000010000, // 输出滤波 16
PID_ChangingIntegrationRate = 0b000100000, // 变速积分 32
PID_DerivativeFilter = 0b001000000, // 微分滤波 64
PID_ErrorHandle = 0b010000000, // 错误处理 128
PID_FeedForward = 0b100000000, // 前馈控制 256
} PID_Improvement_e;
/* PID 报错类型枚举*/