修正电流限幅

2024-12-02 02:45:48 +08:00
parent 721796e105
commit 58e529da77
73 changed files with 1920 additions and 12247 deletions
--- a/BoooomCTL/Common/PID/PID.c
+++ b/BoooomCTL/Common/PID/PID.c
@@ -1,27 +1,27 @@
+////
+//// Created by ZK on 2023/3/14.
+////
 //
-// Created by ZK on 2023/3/14.
+//#include "PID.h"
 //
-
-#include "PID.h"
-
-float PID_Generate(PID *pid) {
-    pid->error = pid->target - pid->value;
-
-    if (pid->error > pid->errMin || pid->error < -pid->errMin)
-        pid->errSum += pid->error * pid->ki;
-
-    if (pid->errSum > pid->errSumMax)
-        pid->errSum = pid->errSumMax;
-    else if (pid->errSum < -pid->errSumMax)
-        pid->errSum = -pid->errSumMax;
-
-    pid->errDt = pid->error - pid->lastErr;
-    pid->lastErr = pid->error;
-
-    pid->result = pid->kp * pid->error + pid->errSum + pid->kd * pid->errDt;
-
-    if (pid->result > pid->valMax)
-        pid->result = pid->valMax;
-    else if (pid->result < -pid->valMax)
-        pid->result = -pid->valMax;
-}
+//float PID_Generate(PID *pid) {
+//    pid->error = pid->target - pid->value;
+//
+//    if (pid->error > pid->errMin || pid->error < -pid->errMin)
+//        pid->errSum += pid->error * pid->ki;
+//
+//    if (pid->errSum > pid->errSumMax)
+//        pid->errSum = pid->errSumMax;
+//    else if (pid->errSum < -pid->errSumMax)
+//        pid->errSum = -pid->errSumMax;
+//
+//    pid->errDt = pid->error - pid->lastErr;
+//    pid->lastErr = pid->error;
+//
+//    pid->result = pid->kp * pid->error + pid->errSum + pid->kd * pid->errDt;
+//
+//    if (pid->result > pid->valMax)
+//        pid->result = pid->valMax;
+//    else if (pid->result < -pid->valMax)
+//        pid->result = -pid->valMax;
+//}
--- a/BoooomCTL/Common/PID/PID.h
+++ b/BoooomCTL/Common/PID/PID.h
@@ -1,32 +1,32 @@
+////
+//// Created by ZK on 2023/3/14.
+////
 //
-// Created by ZK on 2023/3/14.
+//#ifndef BOOOOMFOC_STSPIN32G4_EVB_PID_H
+//#define BOOOOMFOC_STSPIN32G4_EVB_PID_H
 //
-
-#ifndef BOOOOMFOC_STSPIN32G4_EVB_PID_H
-#define BOOOOMFOC_STSPIN32G4_EVB_PID_H
-
-typedef struct pid {
-    float kp;//比例系数
-    float ki;//积分系数
-    float kd;//微分系数
-
-    float target;
-    float value;
-    float error;
-
-    float errSum;
-    float errSumMax;
-
-    float errMin;
-    float valMax;
-
-    float lastErr;
-    float errDt;
-
-    float result;
-} PID;
-
-float PID_Generate(PID *pid);
-
-
-#endif //BOOOOMFOC_STSPIN32G4_EVB_PID_H
+//typedef struct pid {
+//    float kp;//比例系数
+//    float ki;//积分系数
+//    float kd;//微分系数
+//
+//    float target;
+//    float value;
+//    float error;
+//
+//    float errSum;
+//    float errSumMax;
+//
+//    float errMin;
+//    float valMax;
+//
+//    float lastErr;
+//    float errDt;
+//
+//    float result;
+//} PID;
+//
+//float PID_Generate(PID *pid);
+//
+//
+//#endif //BOOOOMFOC_STSPIN32G4_EVB_PID_H