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MedBldc_XiongrChange/Hyt2/APP/Device/Device_speed/speed_to_bldc.c

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中型涡轮蜗杆无刷电机云台，标准版80传动比
2025-08-13 05:15:14 +00:00
#include "ptz_header_file.h"
#include <math.h>
#include "app_cfg.h"
#include "gd32f4xx.h"
#include "device_dac_out.h"
#include "Timer.h"
#include "full_bridge.h"
#include "as5047d.h"
#ifdef PTZ_BLDC_MOTOR
//?????????????
void ptz_send_speed(char dev, char speed)
{
unsigned char Speed1[7] = {0xff,0x00,0xd0,0x00,0x00,0x00,0x00};
unsigned char Speed2[7] = {0xff,0x00,0xd0,0x00,0x00,0x00,0x00};
unsigned short int HSpeed = 0;
unsigned short int VSpeed = 0;
Speed1[1] = g_ptz.address;
Speed2[1] = g_ptz.address;
HSpeed = (unsigned short int)(g_ptz.hori_speed_actual * 100 + 0.5);
Speed1[3] = 0X03;//?????
Speed1[4] = (unsigned char)(HSpeed >> 8);
Speed1[5] = (unsigned char)(HSpeed & 0x00ff);
Speed1[6] = MotorCalPelcoDSUM(Speed1,sizeof(Speed1));
VSpeed = (unsigned short int)(g_ptz.vert_speed_actual * 100 + 0.5);
Speed2[3] = 0X04;//??????
Speed2[4] = (unsigned char)(VSpeed >> 8);
Speed2[5] = (unsigned char)(VSpeed & 0x00ff);
Speed2[6] = MotorCalPelcoDSUM(Speed2,sizeof(Speed2));
switch(speed)
{
case 1://?????????
ptz_send_data(dev,Speed1,sizeof(Speed1));
break;
case 2://??????????
ptz_send_data(dev,Speed2,sizeof(Speed2));
break;
default://??????????????
ptz_send_data(dev,Speed1,sizeof(Speed1));
ptz_send_data(dev,Speed2,sizeof(Speed2));
break;
}
}
void ptz_pid_init()
{
g_ptz.hori_pid.SumError = 0;//??????
g_ptz.hori_pid.LastError = 0;//????????????
g_ptz.hori_pid.PrevError = 0;//????????????
g_ptz.hori_pid.LastUT_float = 0;//???PID????u(t)
g_ptz.hori_pid.PidUT_float = 0;//PID???????
g_ptz.hori_pid.KP = PTZ_HORI_PID_HORI_KP;//????????
g_ptz.hori_pid.TI = PTZ_HORI_PID_HORI_TI;//???????
g_ptz.hori_pid.TD = PTZ_HORI_PID_HORI_TD;//??????
g_ptz.hori_pid.T = PTZ_HORI_PID_T / 1000.0;//????????
//?????????A??B??C
g_ptz.hori_pid.A = g_ptz.hori_pid.KP * (1 + g_ptz.hori_pid.T / g_ptz.hori_pid.TI + g_ptz.hori_pid.TD);
g_ptz.hori_pid.B = g_ptz.hori_pid.KP * (1 + 2 * g_ptz.hori_pid.TD / g_ptz.hori_pid.T);
g_ptz.hori_pid.C = g_ptz.hori_pid.KP * (g_ptz.hori_pid.TD / g_ptz.hori_pid.T);
g_ptz.vert_pid.SumError = 0;//??????
g_ptz.vert_pid.LastError = 0;//????????????
g_ptz.vert_pid.PrevError = 0;//????????????
g_ptz.vert_pid.LastUT_float = 0;//???PID????u(t)
g_ptz.vert_pid.PidUT_float = 0;//PID???????
g_ptz.vert_pid.KP = PTZ_VERT_PID_VERT_KP;//????????
g_ptz.vert_pid.TI = PTZ_VERT_PID_VERT_TI;//???????
g_ptz.vert_pid.TD = PTZ_VERT_PID_VERT_TD;//??????
g_ptz.vert_pid.T = PTZ_VERT_PID_T / 1000.0;//????????
//?????????A??B??C
g_ptz.vert_pid.A = g_ptz.vert_pid.KP * (1 + g_ptz.vert_pid.T / g_ptz.vert_pid.TI + g_ptz.vert_pid.TD);
g_ptz.vert_pid.B = g_ptz.vert_pid.KP * (1 + 2 * g_ptz.vert_pid.TD / g_ptz.vert_pid.T);
g_ptz.vert_pid.C = g_ptz.vert_pid.KP * (g_ptz.vert_pid.TD / g_ptz.vert_pid.T);
}
void ptz_hori_pid_clear_zero()
{
g_ptz.hori_pid.SumError = 0;//??????
g_ptz.hori_pid.LastError = 0;//????????????
g_ptz.hori_pid.PrevError = 0;//????????????
g_ptz.hori_pid.LastUT_float = 0;//???PID????u(t)
g_ptz.hori_pid.PidUT_float = 0;//PID???????
g_ptz.hori_pid.PidUT_uint = 0;
// hori_dac0_data_out(0);
}
static float ptz_hori_pid_calculate(float H_SampSpeed)
{
float H_IError,H_IIncPid;
H_IError = g_ptz.hori_speed_set - H_SampSpeed;//??????PID_INPUT_LIMIT
/*????PID???????*/
// if(H_IError > PTZ_HORI_PID_INPUT_LIMIT)
// {
// H_IError = PTZ_HORI_PID_INPUT_LIMIT;
// }
// if(H_IError < (-1 * PTZ_HORI_PID_INPUT_LIMIT))
// {
// H_IError = PTZ_HORI_PID_INPUT_LIMIT * -1;
// }
//????????
H_IIncPid = g_ptz.hori_pid.A * H_IError + g_ptz.hori_pid.B * g_ptz.hori_pid.LastError + g_ptz.hori_pid.C * g_ptz.hori_pid.PrevError;
//?<3F><>?????????<3F><>???
g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError;
g_ptz.hori_pid.LastError = H_IError;
//?????????
return H_IIncPid;
}
//???????
static void ptz_hori_pid_task()
{
unsigned int time = 0;
char i = 0;
while(1)
{
if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
{
#ifdef PTZ_HORI_PID_as5047d_ANGLE_ASY_SPEED
//??????????????????0
g_ptz.hori_as5047d.as5047d_speed_angle_a = 0;
g_ptz.hori_as5047d.as5047d_speed_angle_b = 0;
g_ptz.hori_as5047d.as5047d_speed_angle_c = 0;
//??????????????????????
g_ptz.hori_as5047d.as5047d_speed_angle_a = (float)as5047d_vert_read_data_a();//g_ptz.hori_as5047d.as5047d_angle_actual;
//PID???????
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T);
//??????????????????????
g_ptz.hori_as5047d.as5047d_speed_angle_b = (float)as5047d_vert_read_data_a();//g_ptz.hori_as5047d.as5047d_angle_actual;
//??????????????????
//?????????????????????????????????????????????????
//????????????<3F><>?????????????
if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT)
{
if(g_ptz.hori_as5047d.as5047d_speed_angle_a <= g_ptz.hori_as5047d.as5047d_speed_angle_b)
{
g_ptz.hori_as5047d.as5047d_speed_angle_c =
g_ptz.hori_as5047d.as5047d_speed_angle_b - g_ptz.hori_as5047d.as5047d_speed_angle_a;
}
else
{
g_ptz.hori_as5047d.as5047d_speed_angle_c =
(360.0 - g_ptz.hori_as5047d.as5047d_speed_angle_a) +
(g_ptz.hori_as5047d.as5047d_speed_angle_b - 0);
}
}
//??????????????????????<3F><>
if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT)
{
if(g_ptz.hori_as5047d.as5047d_speed_angle_a >= g_ptz.hori_as5047d.as5047d_speed_angle_b)
{
g_ptz.hori_as5047d.as5047d_speed_angle_c =
g_ptz.hori_as5047d.as5047d_speed_angle_a - g_ptz.hori_as5047d.as5047d_speed_angle_b;
}
else
{
g_ptz.hori_as5047d.as5047d_speed_angle_c =
(360.0 - g_ptz.hori_as5047d.as5047d_speed_angle_b) +
(g_ptz.hori_as5047d.as5047d_speed_angle_a - 0);
}
}
//???????????
if(g_ptz.hori_as5047d.as5047d_speed_angle_c >= 50.0 ||
g_ptz.hori_as5047d.as5047d_speed_angle_c < 0)
{
g_ptz.hori_as5047d.as5047d_speed_angle_c = g_ptz.hori_as5047d.as5047d_speed_angle_c_last;
}
g_ptz.hori_as5047d.as5047d_speed_angle_c_last = g_ptz.hori_as5047d.as5047d_speed_angle_c;
//?????????????
g_ptz.hori_as5047d.as5047d_speed_actual = (g_ptz.hori_as5047d.as5047d_speed_angle_c * 1000.0) /
(360.0 * PTZ_HORI_PID_T) * 60.0;
//???????????????????
g_ptz.hori_motor_speed_as5047d_actual =
g_ptz.hori_as5047d.as5047d_speed_actual * PTZ_HORI_MOTOR_RATIO;
g_ptz.hori_motor_speed_actual = g_ptz.hori_motor_speed_as5047d_actual;
//????????????????????
g_ptz.hori_speed_as5047d_actual =
g_ptz.hori_as5047d.as5047d_speed_actual / PTZ_HORI_BIG_GEAR_RATIO;
g_ptz.hori_speed_actual = g_ptz.hori_speed_as5047d_actual;
#endif
#ifdef PTZ_HORI_PID_as5047d_ANGLE_SYN_SPEED
//??????????????????0
g_ptz.hori_as5047d.as5047d_speed_angle_a = 0;
g_ptz.hori_as5047d.as5047d_speed_angle_b = 0;
g_ptz.hori_as5047d.as5047d_speed_angle_c = 0;
//??????????????????????
g_ptz.hori_as5047d.as5047d_speed_angle_a = (float)as5047d_hori_read_data_a();//g_ptz.hori_as5047d.as5047d_angle_actual;
//PID???????
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T);
//??????????????????????
g_ptz.hori_as5047d.as5047d_speed_angle_b = (float)as5047d_hori_read_data_a();//g_ptz.hori_as5047d.as5047d_angle_actual;
//??????????????????
//?????????????????????????????????????????????????
//?????????????????????????
if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_RIGHT)
{
if(g_ptz.hori_as5047d.as5047d_speed_angle_a <= g_ptz.hori_as5047d.as5047d_speed_angle_b)
{
g_ptz.hori_as5047d.as5047d_speed_angle_c =
g_ptz.hori_as5047d.as5047d_speed_angle_b - g_ptz.hori_as5047d.as5047d_speed_angle_a;
}
else
{
g_ptz.hori_as5047d.as5047d_speed_angle_c =
(16384.0 - g_ptz.hori_as5047d.as5047d_speed_angle_a) +
(g_ptz.hori_as5047d.as5047d_speed_angle_b - 0);
}
}
//????????????<3F><>??????????<3F><>
if(g_ptz.hori_direction_actual == PTZ_HORI_DIR_LEFT)
{
if(g_ptz.hori_as5047d.as5047d_speed_angle_a >= g_ptz.hori_as5047d.as5047d_speed_angle_b)
{
g_ptz.hori_as5047d.as5047d_speed_angle_c =
g_ptz.hori_as5047d.as5047d_speed_angle_a - g_ptz.hori_as5047d.as5047d_speed_angle_b;
}
else
{
g_ptz.hori_as5047d.as5047d_speed_angle_c =
(16384.0 - g_ptz.hori_as5047d.as5047d_speed_angle_b) +
(g_ptz.hori_as5047d.as5047d_speed_angle_a - 0);
}
}
//???????????
if(g_ptz.hori_as5047d.as5047d_speed_angle_c >= 3000.0 ||
g_ptz.hori_as5047d.as5047d_speed_angle_c < 0)
{
g_ptz.hori_as5047d.as5047d_speed_angle_c = g_ptz.hori_as5047d.as5047d_speed_angle_c_last;
}
g_ptz.hori_as5047d.as5047d_speed_angle_c_last = g_ptz.hori_as5047d.as5047d_speed_angle_c;
//?????????????
g_ptz.hori_as5047d.as5047d_speed_actual = ((g_ptz.hori_as5047d.as5047d_speed_angle_c / 16384.0) * 1000.0) /
(PTZ_HORI_PID_T) * 60.0;
// g_ptz.hori_as5047d.as5047d_speed_actual = (g_ptz.hori_as5047d.as5047d_speed_angle_c * 1000.0) /
// (360.0 * PTZ_HORI_PID_T) * 60.0;
//???????????????????
g_ptz.hori_motor_speed_as5047d_actual =
g_ptz.hori_as5047d.as5047d_speed_actual * PTZ_HORI_MOTOR_RATIO;
g_ptz.hori_motor_speed_actual = g_ptz.hori_motor_speed_as5047d_actual;
//????????????????????
g_ptz.hori_speed_as5047d_actual =
g_ptz.hori_as5047d.as5047d_speed_actual / PTZ_HORI_BIG_GEAR_RATIO;
g_ptz.hori_speed_actual = g_ptz.hori_speed_as5047d_actual;
#endif
#ifdef PTZ_HORI_PID_JY02A_SPEED
//???????<3F><>?????,??????0
g_ptz.hori_jy02a.jy02a_fg_num_last = g_ptz.hori_jy02a.jy02a_fg_num_actual;
g_ptz.hori_jy02a.jy02a_fg_num_actual = 0;
g_ptz.hori_motor_speed_actual = 0;
//PID???????
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T);
//??????????<3F><>?????????????
g_ptz.hori_motor_speed_jy02a_actual =
g_ptz.hori_jy02a.jy02a_fg_num_actual /
PTZ_HORI_FG_PWM_NUM_CYCLE *
1000.0 * 60 / PTZ_HORI_PID_T;
g_ptz.hori_motor_speed_actual = g_ptz.hori_motor_speed_jy02a_actual;
//??????????<3F><>???????????
g_ptz.hori_speed_jy02a_actual = g_ptz.hori_motor_speed_jy02a_actual / PTZ_HORI_RATIO;
g_ptz.hori_speed_actual = g_ptz.hori_speed_jy02a_actual;
#endif
#ifdef PTZ_PID_HALL_SPEED //????????????
g_ptz.hori_pid.hall_h1_count = 0;
g_ptz.hori_pid.hall_h2_count = 0;
g_ptz.hori_pid.hall_h3_count = 0;
g_ptz.hori_pid.hall_h123_count = 0;
g_ptz.hori_pid.hall_h1_count_last = 0;
g_ptz.hori_pid.hall_h1_count_time = 0;
g_ptz.hori_pid.hall_h1_count_time_s = 0;
g_ptz.hori_pid.hall_h1_count_time_e = 0;
g_ptz.hori_pid.hall_h2_count_last = 0;
g_ptz.hori_pid.hall_h2_count_time = 0;
g_ptz.hori_pid.hall_h2_count_time_s = 0;
g_ptz.hori_pid.hall_h2_count_time_e = 0;
g_ptz.hori_pid.hall_h3_count_last = 0;
g_ptz.hori_pid.hall_h3_count_time = 0;
g_ptz.hori_pid.hall_h3_count_time_s = 0;
g_ptz.hori_pid.hall_h3_count_time_e = 0;
g_ptz.hori_pid.hall_h123_count_last = 0;
g_ptz.hori_pid.hall_h123_count_time = 0;
g_ptz.hori_pid.hall_h123_count_time_s = 0;
g_ptz.hori_pid.hall_h123_count_time_e = 0;
g_ptz.hori_pid.hall_h1_start_flag = 0;
g_ptz.hori_pid.hall_h2_start_flag = 0;
g_ptz.hori_pid.hall_h3_start_flag = 0;
g_ptz.hori_pid.hall_h123_start_flag = 0;
/*
for(time = 0; time < PTZ_HORI_PID_T_MAX; time ++)
{
if(g_ptz.hori_pid.hall_h1_count != g_ptz.hori_pid.hall_h1_count_last)
{
if(g_ptz.hori_pid.hall_h1_start_flag == 0)
{
g_ptz.hori_pid.hall_h1_count_last = g_ptz.hori_pid.hall_h1_count;
g_ptz.hori_pid.hall_h1_count_time_s = time;
g_ptz.hori_pid.hall_h1_start_flag = 1;
}
else
{
g_ptz.hori_pid.hall_h1_count_last = g_ptz.hori_pid.hall_h1_count;
g_ptz.hori_pid.hall_h1_count_time_e = time;
}
//??????????<3F><>???????????
if(g_ptz.hori_pid.hall_h123_start_flag == 0)
{
g_ptz.hori_pid.hall_h123_count_time_s = time;
g_ptz.hori_pid.hall_h123_start_flag = 1;
}
else
{
g_ptz.hori_pid.hall_h123_count_time_e = time;
}
}
if(g_ptz.hori_pid.hall_h2_count != g_ptz.hori_pid.hall_h2_count_last)
{
if(g_ptz.hori_pid.hall_h2_start_flag == 0)
{
g_ptz.hori_pid.hall_h2_count_last = g_ptz.hori_pid.hall_h2_count;
g_ptz.hori_pid.hall_h2_count_time_s = time;
g_ptz.hori_pid.hall_h2_start_flag = 1;
}
else
{
g_ptz.hori_pid.hall_h2_count_last = g_ptz.hori_pid.hall_h2_count;
g_ptz.hori_pid.hall_h2_count_time_e = time;
}
//??????????<3F><>???????????
if(g_ptz.hori_pid.hall_h123_start_flag == 0)
{
g_ptz.hori_pid.hall_h123_count_time_s = time;
g_ptz.hori_pid.hall_h123_start_flag = 1;
}
else
{
g_ptz.hori_pid.hall_h123_count_time_e = time;
}
}
if(g_ptz.hori_pid.hall_h3_count != g_ptz.hori_pid.hall_h3_count_last)
{
if(g_ptz.hori_pid.hall_h3_start_flag == 0)
{
g_ptz.hori_pid.hall_h3_count_last = g_ptz.hori_pid.hall_h3_count;
g_ptz.hori_pid.hall_h3_count_time_s = time;
g_ptz.hori_pid.hall_h3_start_flag = 1;
}
else
{
g_ptz.hori_pid.hall_h3_count_last = g_ptz.hori_pid.hall_h3_count;
g_ptz.hori_pid.hall_h3_count_time_e = time;
}
//??????????<3F><>???????????
if(g_ptz.hori_pid.hall_h123_start_flag == 0)
{
g_ptz.hori_pid.hall_h123_count_time_s = time;
g_ptz.hori_pid.hall_h123_start_flag = 1;
}
else
{
g_ptz.hori_pid.hall_h123_count_time_e = time;
}
}
if(time >= PTZ_HORI_PID_T)//?????????????
{
if(g_ptz.hori_pid.hall_h1_count >= 2 &&
g_ptz.hori_pid.hall_h2_count >= 2 &&
g_ptz.hori_pid.hall_h3_count >= 2)
{
break;
}
}
OSTimeDlyHMSM(0u, 0u, 0u, 1u);
}
//?????????
if(g_ptz.hori_pid.hall_h1_count_time_e > g_ptz.hori_pid.hall_h1_count_time_s)
{
g_ptz.hori_pid.hall_h1_count_time =
g_ptz.hori_pid.hall_h1_count_time_e - g_ptz.hori_pid.hall_h1_count_time_s;
}
else
{
g_ptz.hori_pid.hall_h1_count_time = time;
}
if(g_ptz.hori_pid.hall_h2_count_time_e > g_ptz.hori_pid.hall_h2_count_time_s)
{
g_ptz.hori_pid.hall_h2_count_time =
g_ptz.hori_pid.hall_h2_count_time_e - g_ptz.hori_pid.hall_h2_count_time_s;
}
else
{
g_ptz.hori_pid.hall_h2_count_time = time;
}
if(g_ptz.hori_pid.hall_h3_count_time_e > g_ptz.hori_pid.hall_h3_count_time_s)
{
g_ptz.hori_pid.hall_h3_count_time =
g_ptz.hori_pid.hall_h3_count_time_e - g_ptz.hori_pid.hall_h3_count_time_s;
}
else
{
g_ptz.hori_pid.hall_h3_count_time = time;
}
//??????????<3F><>???????????
if(g_ptz.hori_pid.hall_h123_count_time_e > g_ptz.hori_pid.hall_h123_count_time_s)
{
g_ptz.hori_pid.hall_h123_count_time =
g_ptz.hori_pid.hall_h123_count_time_e - g_ptz.hori_pid.hall_h123_count_time_s;
}
else
{
g_ptz.hori_pid.hall_h123_count_time = time;
}
//?????????????????????????????
i = 0;
if(g_ptz.hori_pid.hall_h1_count >= 2 && g_ptz.hori_pid.hall_h1_count_time > 0)
{
g_ptz.hori_pid.hall_h1_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h1_count - 1) /
(float)g_ptz.hori_pid.hall_h1_count_time /
PTZ_HORI_MOTOR_POLE_PAIRS;
i++;
}
else
{
g_ptz.hori_pid.hall_h1_motor_speed = 0;
}
if(g_ptz.hori_pid.hall_h2_count >= 2 && g_ptz.hori_pid.hall_h2_count_time > 0)
{
g_ptz.hori_pid.hall_h2_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h2_count - 1) /
(float)g_ptz.hori_pid.hall_h2_count_time /
PTZ_HORI_MOTOR_POLE_PAIRS;
i++;
}
else
{
g_ptz.hori_pid.hall_h2_motor_speed = 0;
}
if(g_ptz.hori_pid.hall_h3_count >= 2 && g_ptz.hori_pid.hall_h3_count_time > 0)
{
g_ptz.hori_pid.hall_h3_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h3_count - 1) /
(float)g_ptz.hori_pid.hall_h3_count_time /
PTZ_HORI_MOTOR_POLE_PAIRS;
i++;
}
else
{
g_ptz.hori_pid.hall_h3_motor_speed = 0;
}
g_ptz.hori_pid.hall_h123_count = g_ptz.hori_pid.hall_h1_count +
g_ptz.hori_pid.hall_h2_count +
g_ptz.hori_pid.hall_h3_count;
//?????????????????????
if(g_ptz.hori_pid.hall_h123_count >= 2 && g_ptz.hori_pid.hall_h123_count_time > 0)
{
g_ptz.hori_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h123_count - 1) /
(float)g_ptz.hori_pid.hall_h123_count_time /
PTZ_HORI_ONE_CYCLE_HALL_NUM;
i++;
}
else
{
g_ptz.hori_pid.hall_h123_motor_speed = 0;
}
//????????????
if(i > 0)
{
g_ptz.hori_motor_speed_hall_actual = (g_ptz.hori_pid.hall_h1_motor_speed +
g_ptz.hori_pid.hall_h2_motor_speed +
g_ptz.hori_pid.hall_h3_motor_speed +
g_ptz.hori_pid.hall_h123_motor_speed) / i;
}
else
{
g_ptz.hori_motor_speed_hall_actual = 0;
}
*/
/* ********************************** */
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_PID_T);
g_ptz.hori_pid.hall_h123_count = g_ptz.hori_pid.hall_h1_count +
g_ptz.hori_pid.hall_h2_count +
g_ptz.hori_pid.hall_h3_count;
static uint32_t time_hori, lastTime_hori, horiTime;
time_hori = OSTimeGet();
horiTime = time_hori - lastTime_hori;
if ( horiTime < 0 )
{
continue;
}
lastTime_hori = time_hori;
if(g_ptz.hori_pid.hall_h123_count >= 2)
{
// g_ptz.hori_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
// (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
g_ptz.hori_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
(float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
}
g_ptz.hori_motor_speed_hall_actual = g_ptz.hori_pid.hall_h123_motor_speed;
/* ********************************** */
//?<3F><>??????????
if(g_ptz.hori_pid.hall_h1_count == 0 ||
g_ptz.hori_pid.hall_h2_count == 0 ||
g_ptz.hori_pid.hall_h3_count == 0)
{//??????????????????0
g_ptz.hori_motor_speed_hall_actual = 0;
}
g_ptz.hori_motor_speed_actual = g_ptz.hori_motor_speed_hall_actual;
//??????????????????
g_ptz.hori_speed_hall_actual = g_ptz.hori_motor_speed_hall_actual / PTZ_HORI_RATIO;
g_ptz.hori_speed_actual = g_ptz.hori_speed_hall_actual;
#endif
/*???????????????????????????????????
1.???????????????????????????
2.?????څ????60????????PID?????*/
// if(g_ptz.hori_speed_actual < g_ptz.hori_speed_set * PTZ_HORI_PRO_ADD_RANGE_LESS)
// {
//// if(time > PTZ_HORI_PID_ADD)
//// {
//// time = PTZ_HORI_PID_ADD;
//// }
//// g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.PidUT_float + time/*PTZ_HORI_PID_ADD*/;
//// //?<3F><>???????PID????
//// g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError;
//// g_ptz.hori_pid.LastError = g_ptz.hori_speed_set - g_ptz.hori_speed_actual;
//
// g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.PidUT_float * PTZ_HORI_PRO_ADD_MUL_LESS;//* 1.3/*PTZ_HORI_PID_ADD*/;
// if(g_ptz.hori_pid.PidUT_float < PTZ_HORI_PID_ADD)
// {
// g_ptz.hori_pid.PidUT_float = PTZ_HORI_PID_ADD;
// }
// //?<3F><>???????PID????
// g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError;
// g_ptz.hori_pid.LastError = g_ptz.hori_speed_set - g_ptz.hori_speed_actual;
// /**??????????????????????????????????????<3F><>???**/
// }
// else
if(g_ptz.hori_speed_actual > g_ptz.hori_speed_set * 2)
{//???????څ????3??
g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.PidUT_float * 0.7;////??????????
g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError;
g_ptz.hori_pid.LastError = g_ptz.hori_speed_set - g_ptz.hori_speed_actual;
}
else
{
//????PID??????????
g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual) + g_ptz.hori_pid.LastUT_float;
//????PID?????????????????????????????????????????????<3F><>??
//?????PID????????
if(fabs(g_ptz.hori_pid.PidUT_float - g_ptz.hori_pid.LastUT_float) > PTZ_HORI_PID_OUTPUT_LIMIT)//???PID??????
{
if(g_ptz.hori_pid.PidUT_float > g_ptz.hori_pid.LastUT_float)
{
g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.LastUT_float + PTZ_HORI_PID_OUTPUT_LIMIT;
}
else
{
g_ptz.hori_pid.PidUT_float = g_ptz.hori_pid.LastUT_float - PTZ_HORI_PID_OUTPUT_LIMIT;
}
}
}
if(g_ptz.hori_pid.PidUT_float < PTZ_HORI_VR_MIN)//???????????????<3F><>?
{
g_ptz.hori_pid.PidUT_float = PTZ_HORI_VR_MIN;
}
if(g_ptz.hori_pid.PidUT_float > PTZ_HORI_VR_MAX)//?????????????????
{
g_ptz.hori_pid.PidUT_float = PTZ_HORI_VR_MAX;
}
g_ptz.hori_pid.PidUT_uint = (unsigned int)(g_ptz.hori_pid.PidUT_float + 0.5);
//????PID?????????????????<3F><>
if(g_ptz.hori_pid.PidUT_uint <= PTZ_HORI_VR_MIN)//???????????????<3F><>?
{
g_ptz.hori_pid.PidUT_uint = PTZ_HORI_VR_MIN;
}
if(g_ptz.hori_pid.PidUT_uint > PTZ_HORI_VR_MAX)//?????????????????
{
g_ptz.hori_pid.PidUT_uint = PTZ_HORI_VR_MAX;
}
//??PID??????????????????????????????<3F><>?
// hori_dac0_data_out(g_ptz.hori_pid.PidUT_uint);
h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint);
//?????PID????????
g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float;
}
if(g_ptz.hori_start_stop_set == PTZ_HORI_STOP)
{
g_ptz.hori_speed_actual = 0;
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
}
#ifdef PTZ_PID_HALL_SPEED //????????????
//?????????????
if(g_ptz.hori_pid.hall_h1_count >= UNSIGNED_INT_MAX_VALUE)
{
g_ptz.hori_pid.hall_h1_count = 0;
}
if(g_ptz.hori_pid.hall_h2_count >= UNSIGNED_INT_MAX_VALUE)
{
g_ptz.hori_pid.hall_h2_count = 0;
}
if(g_ptz.hori_pid.hall_h3_count >= UNSIGNED_INT_MAX_VALUE)
{
g_ptz.hori_pid.hall_h3_count = 0;
}
#endif
}
}
static OS_STK task_hori_pid_stk[TASK_HORI_PID_STK_SIZE];
static void creat_task_hori_pid(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
task_err = OSTaskCreateExt((void (*)(void *)) ptz_hori_pid_task,
(void *) 0,
(OS_STK *)&task_hori_pid_stk[TASK_HORI_PID_STK_SIZE - 1],
(INT8U ) TASK_HORI_PID_PRIO,
(INT16U ) TASK_HORI_PID_PRIO,
(OS_STK *)&task_hori_pid_stk[0],
(INT32U ) TASK_HORI_PID_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_HORI_PID_PRIO, "ptz_hori_pid_task", &name_err);
#endif
if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
pdebug(DEBUG_LEVEL_INFO,"create ptz_hori_pid_task success...\n\r");
} else {
pdebug(DEBUG_LEVEL_FATAL,"create ptz_hori_pid_task failed...\n\r");
}
}
/****************************************************************************/
void ptz_vert_pid_clear_zero()
{
g_ptz.vert_pid.SumError = 0;//??????
g_ptz.vert_pid.LastError = 0;//????????????
g_ptz.vert_pid.PrevError = 0;//????????????
g_ptz.vert_pid.LastUT_float = 0;//???PID????u(t)
g_ptz.vert_pid.PidUT_float = 0;//PID???????
g_ptz.vert_pid.PidUT_uint = 0;
g_ptz.vert_pid.mode = PID_ADJUST_SPEED;//???????PID????
g_ptz.vert_pid.director_speed_state = 0;
// vert_dac1_data_out(0);
}
static float ptz_vert_pid_calculate(float SampSpeed)
{
float IError,IIncPid;
IError = g_ptz.vert_speed_set - SampSpeed;//??????PID_INPUT_LIMIT
/*????PID???????*/
// if(IError > PTZ_VERT_PID_INPUT_LIMIT)
// {
// IError = PTZ_VERT_PID_INPUT_LIMIT;
// }
// if(IError < (-1 * PTZ_VERT_PID_INPUT_LIMIT))
// {
// IError = PTZ_VERT_PID_INPUT_LIMIT * -1;
// }
//????????
IIncPid = g_ptz.vert_pid.A * IError + g_ptz.vert_pid.B * g_ptz.vert_pid.LastError + g_ptz.vert_pid.C * g_ptz.vert_pid.PrevError;
//?<3F><>?????????<3F><>???
g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError;
g_ptz.vert_pid.LastError = IError;
//?????????
return IIncPid;
}
//???????
static void ptz_vert_pid_task()
{
unsigned int time = 0;
char i = 0;
while(1)
{
//???????
if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
{
#ifdef PTZ_VERT_PID_as5047d_ANGLE_ASY_SPEED
//??????????????????0
g_ptz.vert_as5047d.as5047d_speed_angle_a = 0;
g_ptz.vert_as5047d.as5047d_speed_angle_b = 0;
g_ptz.vert_as5047d.as5047d_speed_angle_c = 0;
//??????????????????????
g_ptz.vert_as5047d.as5047d_speed_angle_a = (float)as5047d_vert_read_data_a();//as5047d_vert_get_angle_a();//g_ptz.vert_as5047d.as5047d_angle_actual;
//PID???????
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_PID_T);
//??????????????????????
g_ptz.vert_as5047d.as5047d_speed_angle_b = (float)as5047d_vert_read_data_a();//as5047d_vert_get_angle_a();//g_ptz.vert_as5047d.as5047d_angle_actual;
//??????????????????
//?????????????????????????????????????????????????
//????????????<3F><>?????????????
if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN)
{
if(g_ptz.vert_as5047d.as5047d_speed_angle_a <= g_ptz.vert_as5047d.as5047d_speed_angle_b)
{
g_ptz.vert_as5047d.as5047d_speed_angle_c =
g_ptz.vert_as5047d.as5047d_speed_angle_b - g_ptz.vert_as5047d.as5047d_speed_angle_a;
}
else
{
g_ptz.vert_as5047d.as5047d_speed_angle_c =
(16384.0 - g_ptz.vert_as5047d.as5047d_speed_angle_a) + //360.0
(g_ptz.vert_as5047d.as5047d_speed_angle_b - 0);
}
}
//??????????????????????<3F><>
if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP)
{
if(g_ptz.vert_as5047d.as5047d_speed_angle_a >= g_ptz.vert_as5047d.as5047d_speed_angle_b)
{
g_ptz.vert_as5047d.as5047d_speed_angle_c =
g_ptz.vert_as5047d.as5047d_speed_angle_a - g_ptz.vert_as5047d.as5047d_speed_angle_b;
}
else
{
g_ptz.vert_as5047d.as5047d_speed_angle_c =
(16384.0 - g_ptz.vert_as5047d.as5047d_speed_angle_b) + //360.0
(g_ptz.vert_as5047d.as5047d_speed_angle_a - 0);
}
}
//???????????
if(g_ptz.vert_as5047d.as5047d_speed_angle_c < 0 ||
g_ptz.vert_as5047d.as5047d_speed_angle_c >= 3000.0)//50.0
{
g_ptz.vert_as5047d.as5047d_speed_angle_c = g_ptz.vert_as5047d.as5047d_speed_angle_c_last;
}
g_ptz.vert_as5047d.as5047d_speed_angle_c_last = g_ptz.vert_as5047d.as5047d_speed_angle_c;
//?????????????
g_ptz.vert_as5047d.as5047d_speed_actual = ((g_ptz.vert_as5047d.as5047d_speed_angle_c / 16384.0) * 1000) /
PTZ_VERT_PID_T * 60.0;
// g_ptz.vert_as5047d.as5047d_speed_actual = (g_ptz.vert_as5047d.as5047d_speed_angle_c * 1000) /
// (360.0 * PTZ_VERT_PID_T) * 60.0;
//???????????????????
g_ptz.vert_motor_speed_as5047d_actual =
g_ptz.vert_as5047d.as5047d_speed_actual * PTZ_VERT_MOTOR_RATIO;
g_ptz.vert_motor_speed_actual = g_ptz.vert_motor_speed_as5047d_actual;
//????????????????????
g_ptz.vert_speed_as5047d_actual =
g_ptz.vert_as5047d.as5047d_speed_actual / PTZ_VERT_BIG_GEAR_RATIO;
g_ptz.vert_speed_actual = g_ptz.vert_speed_as5047d_actual;
#endif
#ifdef PTZ_VERT_PID_as5047d_ANGLE_SYN_SPEED
//??????????????????0
g_ptz.vert_as5047d.as5047d_speed_angle_a = 0;
g_ptz.vert_as5047d.as5047d_speed_angle_b = 0;
g_ptz.vert_as5047d.as5047d_speed_angle_c = 0;
//??????????????????????
g_ptz.vert_as5047d.as5047d_speed_angle_a = g_ptz.vert_as5047d.as5047d_angle_actual;
//PID???????
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_PID_T);
//??????????????????????
g_ptz.vert_as5047d.as5047d_speed_angle_b = g_ptz.vert_as5047d.as5047d_angle_actual;
//??????????????????
//?????????????????????????????????????????????????
//?????????????????????????
if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_UP)
{
if(g_ptz.vert_as5047d.as5047d_speed_angle_a <= g_ptz.vert_as5047d.as5047d_speed_angle_b)
{
g_ptz.vert_as5047d.as5047d_speed_angle_c =
g_ptz.vert_as5047d.as5047d_speed_angle_b - g_ptz.vert_as5047d.as5047d_speed_angle_a;
}
else
{
g_ptz.vert_as5047d.as5047d_speed_angle_c =
(360.0 - g_ptz.vert_as5047d.as5047d_speed_angle_a) +
(g_ptz.vert_as5047d.as5047d_speed_angle_b - 0);
}
}
//????????????<3F><>??????????<3F><>
if(g_ptz.vert_direction_actual == PTZ_VERT_DIR_DOWN)
{
if(g_ptz.vert_as5047d.as5047d_speed_angle_a >= g_ptz.vert_as5047d.as5047d_speed_angle_b)
{
g_ptz.vert_as5047d.as5047d_speed_angle_c =
g_ptz.vert_as5047d.as5047d_speed_angle_a - g_ptz.vert_as5047d.as5047d_speed_angle_b;
}
else
{
g_ptz.vert_as5047d.as5047d_speed_angle_c =
(360.0 - g_ptz.vert_as5047d.as5047d_speed_angle_b) +
(g_ptz.vert_as5047d.as5047d_speed_angle_a - 0);
}
}
//???????????
if(g_ptz.vert_as5047d.as5047d_speed_angle_c < 0 ||
g_ptz.vert_as5047d.as5047d_speed_angle_c >= 50.0)
{
g_ptz.vert_as5047d.as5047d_speed_angle_c = g_ptz.vert_as5047d.as5047d_speed_angle_c_last;
}
g_ptz.vert_as5047d.as5047d_speed_angle_c_last = g_ptz.vert_as5047d.as5047d_speed_angle_c;
//?????????????
g_ptz.vert_as5047d.as5047d_speed_actual = (g_ptz.vert_as5047d.as5047d_speed_angle_c * 1000) /
(360.0 * PTZ_VERT_PID_T) * 60.0;
//???????????????????
g_ptz.vert_motor_speed_as5047d_actual =
g_ptz.vert_as5047d.as5047d_speed_actual * PTZ_VERT_MOTOR_RATIO;
g_ptz.vert_motor_speed_actual = g_ptz.vert_motor_speed_as5047d_actual;
//????????????????????
g_ptz.vert_speed_as5047d_actual =
g_ptz.vert_as5047d.as5047d_speed_actual / PTZ_VERT_BIG_GEAR_RATIO;
g_ptz.vert_speed_actual = g_ptz.vert_speed_as5047d_actual;
#endif
#ifdef PTZ_VERT_PID_JY02A_SPEED
//???????<3F><>????????????0
g_ptz.vert_jy02a.jy02a_fg_num_last = g_ptz.vert_jy02a.jy02a_fg_num_actual;
g_ptz.vert_jy02a.jy02a_fg_num_actual = 0;
g_ptz.vert_motor_speed_actual = 0;
//PID???????
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_PID_T);
//??????????<3F><>?????????????
g_ptz.vert_motor_speed_jy02a_actual =
g_ptz.vert_jy02a.jy02a_fg_num_actual /
PTZ_VERT_FG_PWM_NUM_CYCLE *
1000.0 * 60 / PTZ_VERT_PID_T;
g_ptz.vert_motor_speed_actual = g_ptz.vert_motor_speed_jy02a_actual;
//??????????<3F><>???????????
g_ptz.vert_speed_jy02a_actual = g_ptz.vert_motor_speed_jy02a_actual / PTZ_VERT_RATIO;
g_ptz.vert_speed_actual = g_ptz.vert_speed_jy02a_actual;
#endif
#ifdef PTZ_PID_HALL_SPEED //????????????
g_ptz.vert_pid.hall_h1_count = 0;
g_ptz.vert_pid.hall_h2_count = 0;
g_ptz.vert_pid.hall_h3_count = 0;
g_ptz.vert_pid.hall_h123_count = 0;
g_ptz.vert_pid.hall_h1_count_last = 0;
g_ptz.vert_pid.hall_h1_count_time = 0;
g_ptz.vert_pid.hall_h1_count_time_s = 0;
g_ptz.vert_pid.hall_h1_count_time_e = 0;
g_ptz.vert_pid.hall_h2_count_last = 0;
g_ptz.vert_pid.hall_h2_count_time = 0;
g_ptz.vert_pid.hall_h2_count_time_s = 0;
g_ptz.vert_pid.hall_h2_count_time_e = 0;
g_ptz.vert_pid.hall_h3_count_last = 0;
g_ptz.vert_pid.hall_h3_count_time = 0;
g_ptz.vert_pid.hall_h3_count_time_s = 0;
g_ptz.vert_pid.hall_h3_count_time_e = 0;
g_ptz.vert_pid.hall_h123_count_last = 0;
g_ptz.vert_pid.hall_h123_count_time = 0;
g_ptz.vert_pid.hall_h123_count_time_s = 0;
g_ptz.vert_pid.hall_h123_count_time_e = 0;
g_ptz.vert_pid.hall_h1_start_flag = 0;
g_ptz.vert_pid.hall_h2_start_flag = 0;
g_ptz.vert_pid.hall_h3_start_flag = 0;
g_ptz.vert_pid.hall_h123_start_flag = 0;
/*
for(time = 0; time < PTZ_VERT_PID_T_MAX; time ++)
{
if(g_ptz.vert_pid.hall_h1_count != g_ptz.vert_pid.hall_h1_count_last)
{
if(g_ptz.vert_pid.hall_h1_start_flag == 0)
{
g_ptz.vert_pid.hall_h1_count_last = g_ptz.vert_pid.hall_h1_count;
g_ptz.vert_pid.hall_h1_count_time_s = time;
g_ptz.vert_pid.hall_h1_start_flag = 1;
}
else
{
g_ptz.vert_pid.hall_h1_count_last = g_ptz.vert_pid.hall_h1_count;
g_ptz.vert_pid.hall_h1_count_time_e = time;
}
//??????????<3F><>???????????
if(g_ptz.vert_pid.hall_h123_start_flag == 0)
{
g_ptz.vert_pid.hall_h123_count_time_s = time;
g_ptz.vert_pid.hall_h123_start_flag = 1;
}
else
{
g_ptz.vert_pid.hall_h123_count_time_e = time;
}
}
if(g_ptz.vert_pid.hall_h2_count != g_ptz.vert_pid.hall_h2_count_last)
{
if(g_ptz.vert_pid.hall_h2_start_flag == 0)
{
g_ptz.vert_pid.hall_h2_count_last = g_ptz.vert_pid.hall_h2_count;
g_ptz.vert_pid.hall_h2_count_time_s = time;
g_ptz.vert_pid.hall_h2_start_flag = 1;
}
else
{
g_ptz.vert_pid.hall_h2_count_last = g_ptz.vert_pid.hall_h2_count;
g_ptz.vert_pid.hall_h2_count_time_e = time;
}
//??????????<3F><>???????????
if(g_ptz.vert_pid.hall_h123_start_flag == 0)
{
g_ptz.vert_pid.hall_h123_count_time_s = time;
g_ptz.vert_pid.hall_h123_start_flag = 1;
}
else
{
g_ptz.vert_pid.hall_h123_count_time_e = time;
}
}
if(g_ptz.vert_pid.hall_h3_count != g_ptz.vert_pid.hall_h3_count_last)
{
if(g_ptz.vert_pid.hall_h3_start_flag == 0)
{
g_ptz.vert_pid.hall_h3_count_last = g_ptz.vert_pid.hall_h3_count;
g_ptz.vert_pid.hall_h3_count_time_s = time;
g_ptz.vert_pid.hall_h3_start_flag = 1;
}
else
{
g_ptz.vert_pid.hall_h3_count_last = g_ptz.vert_pid.hall_h3_count;
g_ptz.vert_pid.hall_h3_count_time_e = time;
}
//??????????<3F><>???????????
if(g_ptz.vert_pid.hall_h123_start_flag == 0)
{
g_ptz.vert_pid.hall_h123_count_time_s = time;
g_ptz.vert_pid.hall_h123_start_flag = 1;
}
else
{
g_ptz.vert_pid.hall_h123_count_time_e = time;
}
}
if(time >= PTZ_VERT_PID_T)//?????????????
{
if(g_ptz.vert_pid.hall_h1_count >= 2 &&
g_ptz.vert_pid.hall_h2_count >= 2 &&
g_ptz.vert_pid.hall_h3_count >= 2)
{
break;
}
}
OSTimeDlyHMSM(0u, 0u, 0u, 1u);
}
//???????
if(g_ptz.vert_pid.hall_h1_count_time_e > g_ptz.vert_pid.hall_h1_count_time_s)
{
g_ptz.vert_pid.hall_h1_count_time =
g_ptz.vert_pid.hall_h1_count_time_e - g_ptz.vert_pid.hall_h1_count_time_s;
}
else
{
g_ptz.vert_pid.hall_h1_count_time = time;
}
if(g_ptz.vert_pid.hall_h2_count_time_e > g_ptz.vert_pid.hall_h2_count_time_s)
{
g_ptz.vert_pid.hall_h2_count_time =
g_ptz.vert_pid.hall_h2_count_time_e - g_ptz.vert_pid.hall_h2_count_time_s;
}
else
{
g_ptz.vert_pid.hall_h2_count_time = time;
}
if(g_ptz.vert_pid.hall_h3_count_time_e > g_ptz.vert_pid.hall_h3_count_time_s)
{
g_ptz.vert_pid.hall_h3_count_time =
g_ptz.vert_pid.hall_h3_count_time_e - g_ptz.vert_pid.hall_h3_count_time_s;
}
else
{
g_ptz.vert_pid.hall_h3_count_time = time;
}
//??????????<3F><>???????????
if(g_ptz.vert_pid.hall_h123_count_time_e > g_ptz.vert_pid.hall_h123_count_time_s)
{
g_ptz.vert_pid.hall_h123_count_time =
g_ptz.vert_pid.hall_h123_count_time_e - g_ptz.vert_pid.hall_h123_count_time_s;
}
else
{
g_ptz.vert_pid.hall_h123_count_time = time;
}
//?????????????????????????????
i = 0;
if(g_ptz.vert_pid.hall_h1_count >= 2 && g_ptz.vert_pid.hall_h1_count_time > 0)
{
g_ptz.vert_pid.hall_h1_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h1_count - 1) /
(float)g_ptz.vert_pid.hall_h1_count_time /
PTZ_VERT_MOTOR_POLE_PAIRS;
i++;
}
else
{
g_ptz.vert_pid.hall_h1_motor_speed = 0;
}
if(g_ptz.vert_pid.hall_h2_count >= 2 && g_ptz.vert_pid.hall_h2_count_time > 0)
{
g_ptz.vert_pid.hall_h2_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h2_count - 1) /
(float)g_ptz.vert_pid.hall_h2_count_time /
PTZ_VERT_MOTOR_POLE_PAIRS;
i++;
}
else
{
g_ptz.vert_pid.hall_h2_motor_speed = 0;
}
if(g_ptz.vert_pid.hall_h3_count >= 2 && g_ptz.vert_pid.hall_h3_count_time > 0)
{
g_ptz.vert_pid.hall_h3_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h3_count - 1) /
(float)g_ptz.vert_pid.hall_h3_count_time /
PTZ_VERT_MOTOR_POLE_PAIRS;
i++;
}
else
{
g_ptz.vert_pid.hall_h3_motor_speed = 0;
}
g_ptz.vert_pid.hall_h123_count = g_ptz.vert_pid.hall_h1_count +
g_ptz.vert_pid.hall_h2_count +
g_ptz.vert_pid.hall_h3_count;
//?????????????????????
if(g_ptz.vert_pid.hall_h123_count >= 2 && g_ptz.vert_pid.hall_h123_count_time > 0)
{
g_ptz.vert_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h123_count - 1) /
(float)g_ptz.vert_pid.hall_h123_count_time /
PTZ_VERT_ONE_CYCLE_HALL_NUM;
i++;
}
else
{
g_ptz.vert_pid.hall_h123_motor_speed = 0;
}
//????????????
if(i > 0)
{
g_ptz.vert_motor_speed_hall_actual = (g_ptz.vert_pid.hall_h1_motor_speed +
g_ptz.vert_pid.hall_h2_motor_speed +
g_ptz.vert_pid.hall_h3_motor_speed +
g_ptz.vert_pid.hall_h123_motor_speed) / i;
}
else
{
g_ptz.vert_motor_speed_hall_actual = 0;
}
*/
/* ********************************** */
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_PID_T);
g_ptz.vert_pid.hall_h123_count = g_ptz.vert_pid.hall_h1_count +
g_ptz.vert_pid.hall_h2_count +
g_ptz.vert_pid.hall_h3_count;
static uint32_t time_vert, lastTime_vert, vertTime;
time_vert = OSTimeGet();
vertTime = time_vert - lastTime_vert;
if ( vertTime < 0 )
{
continue;
}
lastTime_vert = time_vert;
垂直速度计算错误，更改
2025-08-13 05:29:57 +00:00
if(g_ptz.vert_pid.hall_h123_count >= 2)
中型涡轮蜗杆无刷电机云台，标准版80传动比
2025-08-13 05:15:14 +00:00
{
中型无刷，标准版本带传动，蜗轮蜗杆传动比80，增加如下修改{磁编修改、电机速度计算修改、电机过流保护修改、485读写延时减小、顶部开关保存}，初测可用
2025-08-15 02:32:26 +00:00
// g_ptz.vert_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
// (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
垂直速度计算错误，更改
2025-08-13 05:29:57 +00:00
g_ptz.vert_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h123_count/* - 1*/) /
中型无刷，标准版本带传动，蜗轮蜗杆传动比80，增加如下修改{磁编修改、电机速度计算修改、电机过流保护修改、485读写延时减小、顶部开关保存}，初测可用
2025-08-15 02:32:26 +00:00
(float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
中型涡轮蜗杆无刷电机云台，标准版80传动比
2025-08-13 05:15:14 +00:00
}
g_ptz.vert_motor_speed_hall_actual = g_ptz.vert_pid.hall_h123_motor_speed;
/* ********************************** */
//?<3F><>??????????
if(g_ptz.vert_pid.hall_h1_count == 0 ||
g_ptz.vert_pid.hall_h2_count == 0 ||
g_ptz.vert_pid.hall_h3_count == 0)
{//??????????????????0
g_ptz.vert_motor_speed_hall_actual = 0;
}
g_ptz.vert_motor_speed_actual = g_ptz.vert_motor_speed_hall_actual;
//??????????????????
g_ptz.vert_speed_hall_actual = g_ptz.vert_motor_speed_hall_actual / PTZ_VERT_RATIO;
g_ptz.vert_speed_actual = g_ptz.vert_speed_hall_actual;
#endif
}
//PID????
if(g_ptz.vert_start_stop_set == PTZ_VERT_START &&
g_ptz.vert_pid.mode == PID_ADJUST_SPEED)
{
#ifdef PTZ_CONTROL_SPEED_L6235D
//?<3F><>??????????????????
if(g_ptz.vert_pid.PidUT_float <= 0 && g_ptz.vert_speed_actual > g_ptz.vert_speed_set * 2)
{
v_pwm_duty_change(0);
g_ptz.vert_pid.director_speed_state = 0;
g_ptz.vert_pid.mode = DIRECTOR_ADJUST_SPEED;
}
#endif
/*???????????????????????????????????
1.???????????????????????????
2.?????څ????70????????PID?????*/
// if(g_ptz.vert_speed_actual < g_ptz.vert_speed_set * PTZ_VERT_PRO_ADD_RANGE_LESS)
// {
//// if(time > PTZ_VERT_PID_ADD)
//// {
//// time = PTZ_VERT_PID_ADD;
//// }
//// g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.PidUT_float + time/*PTZ_VERT_PID_ADD*/;
//// //?<3F><>???????PID????
//// g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError;
//// g_ptz.vert_pid.LastError = g_ptz.vert_speed_set - g_ptz.vert_speed_actual;
//
// g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.PidUT_float * PTZ_VERT_PRO_ADD_MUL_LESS;
// if(g_ptz.vert_pid.PidUT_float < PTZ_VERT_PID_ADD)
// {
// g_ptz.vert_pid.PidUT_float = PTZ_VERT_PID_ADD;
// }
// //?<3F><>???????PID????
// g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError;
// g_ptz.vert_pid.LastError = g_ptz.vert_speed_set - g_ptz.vert_speed_actual;
// }
// else
if(g_ptz.vert_speed_actual > g_ptz.vert_speed_set * 2)
{//???????څ????3??
g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.PidUT_float - 100.0;//* 1.3/*PTZ_HORI_PID_ADD*/;
g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError;
g_ptz.vert_pid.LastError = g_ptz.vert_speed_set - g_ptz.vert_speed_actual;
}
else
{
//????PID??????????
g_ptz.vert_pid.PidUT_float = ptz_vert_pid_calculate(g_ptz.vert_speed_actual) + g_ptz.vert_pid.LastUT_float;
//????PID?????????????????????????????????????????????<3F><>??
//?????PID????????
if(fabs(g_ptz.vert_pid.PidUT_float - g_ptz.vert_pid.LastUT_float) > PTZ_VERT_PID_OUTPUT_LIMIT)//???PID??????
{
if(g_ptz.vert_pid.PidUT_float > g_ptz.vert_pid.LastUT_float)
{
g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.LastUT_float + PTZ_VERT_PID_OUTPUT_LIMIT;
}
else
{
g_ptz.vert_pid.PidUT_float = g_ptz.vert_pid.LastUT_float - PTZ_VERT_PID_OUTPUT_LIMIT;
}
}
}
if(g_ptz.vert_pid.PidUT_float < PTZ_VERT_VR_MIN)//???????????????<3F><>?
{
g_ptz.vert_pid.PidUT_float = PTZ_VERT_VR_MIN;
}
if(g_ptz.vert_pid.PidUT_float > PTZ_VERT_VR_MAX)//?????????????????
{
g_ptz.vert_pid.PidUT_float = PTZ_VERT_VR_MAX;
}
g_ptz.vert_pid.PidUT_uint = (unsigned int)(g_ptz.vert_pid.PidUT_float + 0.5);
//????PID?????????????????<3F><>
if(g_ptz.vert_pid.PidUT_uint <= PTZ_VERT_VR_MIN)//???????????????<3F><>?
{
g_ptz.vert_pid.PidUT_uint = PTZ_VERT_VR_MIN;
}
if(g_ptz.vert_pid.PidUT_uint > PTZ_VERT_VR_MAX)//?????????????????
{
g_ptz.vert_pid.PidUT_uint = PTZ_VERT_VR_MAX;
}
//??PID??????????????????????????????<3F><>?
// vert_dac1_data_out( g_ptz.vert_pid.PidUT_uint);
v_pwm_duty_change(g_ptz.vert_pid.PidUT_uint);
//?????PID????????
g_ptz.vert_pid.LastUT_float = g_ptz.vert_pid.PidUT_float;
}
#ifdef PTZ_CONTROL_SPEED_L6235D
//????pwm?????????????
if(g_ptz.vert_start_stop_set == PTZ_VERT_START &&
g_ptz.vert_pid.mode == DIRECTOR_ADJUST_SPEED)
{
/******/
//?<3F><>??????????PID????
if(g_ptz.vert_pid.director_speed_start_t <= 0 &&
g_ptz.vert_speed_actual < (g_ptz.vert_speed_set / 2.0))
{
vert_dir_speed_stop();
// adc7311_vert_vr(0);
g_ptz.vert_pid.director_speed_state = 0;
g_ptz.vert_pid.SumError = 0;//??????
g_ptz.vert_pid.LastError = 0;//????????????
g_ptz.vert_pid.PrevError = 0;//????????????
g_ptz.vert_pid.LastUT_float = 0;//???PID????u(t)
g_ptz.vert_pid.PidUT_float = 0;//PID???????
// l6235d_vert_set_direction(g_ptz.vert_direction_set);
g_ptz.vert_pid.mode = PID_ADJUST_SPEED;
continue;
}
/*****/
switch(g_ptz.vert_pid.director_speed_state)
{
case 0://???????????
if(g_ptz.vert_direction_set == PTZ_VERT_DIR_DOWN)
{
g_ptz.vert_pid.director_speed_direction = PTZ_VERT_DIR_UP;
}
if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
{
g_ptz.vert_pid.director_speed_direction = PTZ_VERT_DIR_DOWN;
}
g_ptz.vert_pid.director_speed_t = PTZ_DIRECTOR_SPEED_T;//20ms
// g_ptz.vert_pid.director_speed_vref = 0;
// adc7311_vert_vr(g_ptz.vert_pid.director_speed_vref);
g_ptz.vert_pid.director_speed_start_t = 0;
g_ptz.vert_pid.director_speed_stop_t = PTZ_DIRECTOR_SPEED_T - g_ptz.vert_pid.director_speed_start_t;
g_ptz.vert_pid.director_speed_state ++;
break;
case 1://???????????
if(g_ptz.vert_speed_actual > g_ptz.vert_speed_set &&
g_ptz.vert_pid.director_speed_start_t < g_ptz.vert_pid.director_speed_t)
{
g_ptz.vert_pid.director_speed_start_t ++;
}
if(g_ptz.vert_speed_actual < g_ptz.vert_speed_set &&
g_ptz.vert_pid.director_speed_start_t > 0)
{
g_ptz.vert_pid.director_speed_start_t --;
}
g_ptz.vert_pid.director_speed_stop_t =
g_ptz.vert_pid.director_speed_t - g_ptz.vert_pid.director_speed_start_t;
break;
}
}
#endif
if(g_ptz.vert_start_stop_set == PTZ_VERT_STOP)
{
g_ptz.vert_pid.roll_start = 0;
g_ptz.vert_speed_actual = 0;
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
}
#ifdef PTZ_PID_HALL_SPEED //????????????
//?????????????
if(g_ptz.vert_pid.hall_h1_count >= UNSIGNED_INT_MAX_VALUE)
{
g_ptz.vert_pid.hall_h1_count = 0;
}
if(g_ptz.vert_pid.hall_h2_count >= UNSIGNED_INT_MAX_VALUE)
{
g_ptz.vert_pid.hall_h2_count = 0;
}
if(g_ptz.vert_pid.hall_h3_count >= UNSIGNED_INT_MAX_VALUE)
{
g_ptz.vert_pid.hall_h3_count = 0;
}
#endif
}
}
//???????????,????PWM??????????,,,??????????????????????????????????????
static void ptz_vert_director_speed_pwm_task()
{
while(1)
{//????pwm??
if(g_ptz.vert_start_stop_set == PTZ_VERT_START &&
g_ptz.vert_pid.mode == DIRECTOR_ADJUST_SPEED)
{
switch(g_ptz.vert_pid.director_speed_state)
{
case 1:
if(g_ptz.vert_start_stop_set == PTZ_VERT_START &&
g_ptz.vert_pid.director_speed_start_t > 0)
{//????
// l6235d_vert_set_direction(g_ptz.vert_pid.director_speed_direction);
vert_dir_speed_start(80);
OSTimeDlyHMSM(0u, 0u, 0u, g_ptz.vert_pid.director_speed_start_t);
}
if(g_ptz.vert_start_stop_set == PTZ_VERT_START &&
g_ptz.vert_pid.director_speed_stop_t > 0)
{
// l6235d_vert_set_direction(g_ptz.vert_direction_actual);
vert_dir_speed_stop();
OSTimeDlyHMSM(0u, 0u, 0u, g_ptz.vert_pid.director_speed_stop_t);
}
break;
default:
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
break;
}
}
else
{
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
}
}
}
static OS_STK task_vert_pid_stk[TASK_VERT_PID_STK_SIZE];
static void creat_task_vert_pid(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
task_err = OSTaskCreateExt((void (*)(void *)) ptz_vert_pid_task,
(void *) 0,
(OS_STK *)&task_vert_pid_stk[TASK_VERT_PID_STK_SIZE - 1],
(INT8U ) TASK_VERT_PID_PRIO,
(INT16U ) TASK_VERT_PID_PRIO,
(OS_STK *)&task_vert_pid_stk[0],
(INT32U ) TASK_VERT_PID_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_VERT_PID_PRIO, "ptz_vert_pid_task", &name_err);
#endif
if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
pdebug(DEBUG_LEVEL_INFO,"create ptz_vert_pid_task success...\n\r");
} else {
pdebug(DEBUG_LEVEL_FATAL,"create ptz_vert_pid_task failed...\n\r");
}
}
static OS_STK task_vert_director_speed_pwm_stk[TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE];
static void creat_task_director_speed_pwm(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
task_err = OSTaskCreateExt((void (*)(void *)) ptz_vert_director_speed_pwm_task,
(void *) 0,
(OS_STK *)&task_vert_director_speed_pwm_stk[TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE - 1],
(INT8U ) TASK_VERT_DIRECTOR_SPEED_PWM_PRIO,
(INT16U ) TASK_VERT_DIRECTOR_SPEED_PWM_PRIO,
(OS_STK *)&task_vert_director_speed_pwm_stk[0],
(INT32U ) TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_VERT_DIRECTOR_SPEED_PWM_PRIO, "ptz_vert_director_speed_pwm_task", &name_err);
#endif
if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
pdebug(DEBUG_LEVEL_INFO,"create ptz_vert_director_speed_pwm_task success...\n\r");
} else {
pdebug(DEBUG_LEVEL_FATAL,"create ptz_vert_director_speed_pwm_task failed...\n\r");
}
}
/******************************************************************************/
void init_speed_module(void)
{
bldc_pwm_init();//??????????????
ptz_pid_init();
creat_task_hori_pid();
creat_task_vert_pid();
#ifdef PTZ_CONTROL_SPEED_L6235D
creat_task_director_speed_pwm();
#endif
}
#endif