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TuxMonkey
2025-11-20 19:49:12 +08:00
parent 1ff64dea82
commit d97528291a
3 changed files with 14 additions and 14 deletions
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6
User_Code/module/algorithm/controller/controller.c → User_Code/module/algorithm/controller/pid/pid.c
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@@ -1,14 +1,14 @@
/** /**
* @file controller.c * @file controller.c
* @author wanghongxi * @author wanghongxi
* @author modified by neozng * @author modified by TuxMonkey
* @brief PID控制器定义 * @brief PID控制器定义
* @version beta * @version beta
* @date 2022-11-01 * @date 2022-11-01
* *
* @copyrightCopyright (c) 2022 HNU YueLu EC all rights reserved * @copyright Copyright (c) 2025 DLMU.CONE EC all rights reserved
*/ */
#include "controller.h" #include "pid.h"
#include "memory.h" #include "memory.h"
/* ----------------------------下面是pid优化环节的实现---------------------------- */ /* ----------------------------下面是pid优化环节的实现---------------------------- */

20
User_Code/module/algorithm/controller/controller.h → User_Code/module/algorithm/controller/pid/pid.h
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@@ -25,18 +25,18 @@
#define abs(x) ((x > 0) ? x : -x) #define abs(x) ((x > 0) ? x : -x)
#endif #endif
// PID 优化环节使能标志位,通过位与可以判断启用的优化环节;也可以改成位域的形式 // PID 优化环节使能标志位
typedef enum typedef enum
{ {
PID_IMPROVE_NONE = 0b00000000, // 0000 0000 PID_IMPROVE_NONE = 0b00000000, // 无优化
PID_Integral_Limit = 0b00000001, // 0000 0001 PID_Integral_Limit = 0b00000001, // 积分限幅
PID_Derivative_On_Measurement = 0b00000010, // 0000 0010 PID_Derivative_On_Measurement = 0b00000010, // 微分先行
PID_Trapezoid_Intergral = 0b00000100, // 0000 0100 PID_Trapezoid_Intergral = 0b00000100, // 梯形积分
PID_Proportional_On_Measurement = 0b00001000, // 0000 1000 PID_Proportional_On_Measurement = 0b00001000, // 比例先行
PID_OutputFilter = 0b00010000, // 0001 0000 PID_OutputFilter = 0b00010000, // 输出滤波
PID_ChangingIntegrationRate = 0b00100000, // 0010 0000 PID_ChangingIntegrationRate = 0b00100000, // 变积分
PID_DerivativeFilter = 0b01000000, // 0100 0000 PID_DerivativeFilter = 0b01000000, // 微分滤波
PID_ErrorHandle = 0b10000000, // 1000 0000 PID_ErrorHandle = 0b10000000, // 误差处理
} PID_Improvement_e; } PID_Improvement_e;
/* PID 报错类型枚举*/ /* PID 报错类型枚举*/

2
User_Code/module/periph/imu/ins_task.c
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@@ -12,7 +12,7 @@
****************************************************************************** ******************************************************************************
*/ */
#include "ins_task.h" #include "ins_task.h"
#include "controller.h" #include "../../algorithm/controller/pid/pid.h"
#include "QuaternionEKF.h" #include "QuaternionEKF.h"
#include "spi.h" #include "spi.h"
#include "tim.h" #include "tim.h"