pengsx
/
LW21-01B
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

更改速度计算方式和相电流计算方式

This commit is contained in:
起床就犯困 2025-05-30 16:36:53 +08:00
parent 9b021d1a0d
commit 203a25e7a7
5 changed files with 128 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
.vscode/settings.json vendored Normal file
View File

@ -0,0 +1,6 @@
{
"files.associations": {
"bsp_os.h": "c",
"cmath": "c"
}
}

103
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -9,6 +9,10 @@
#ifdef PTZ_BLDC_MOTOR #ifdef PTZ_BLDC_MOTOR
static volatile float tempSpeedH = 0;
static volatile float tempSpeedV = 0;
//发送云台实际转速 //发送云台实际转速
void ptz_send_speed(char dev, char speed) void ptz_send_speed(char dev, char speed)
{ {
@ -64,9 +68,9 @@ void ptz_pid_init()
g_ptz.hori_pid.TD = PTZ_HORI_PID_HORI_TD;//微分常数 g_ptz.hori_pid.TD = PTZ_HORI_PID_HORI_TD;//微分常数
g_ptz.hori_pid.T = PTZ_HORI_PID_T / 1000.0;//采样周期 g_ptz.hori_pid.T = PTZ_HORI_PID_T / 1000.0;//采样周期
//三个简化参数A，B，C //三个简化参数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.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.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.hori_pid.C = g_ptz.hori_pid.KP * (g_ptz.hori_pid.TD / g_ptz.hori_pid.T);
g_ptz.vert_pid.SumError = 0;//累计误差 g_ptz.vert_pid.SumError = 0;//累计误差
g_ptz.vert_pid.LastError = 0;//上一次输入偏差 g_ptz.vert_pid.LastError = 0;//上一次输入偏差
@ -78,9 +82,10 @@ void ptz_pid_init()
g_ptz.vert_pid.TD = PTZ_VERT_PID_VERT_TD;//微分常数 g_ptz.vert_pid.TD = PTZ_VERT_PID_VERT_TD;//微分常数
g_ptz.vert_pid.T = PTZ_VERT_PID_T / 1000.0;//采样周期 g_ptz.vert_pid.T = PTZ_VERT_PID_T / 1000.0;//采样周期
//三个简化参数A，B，C //三个简化参数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.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.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); // 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() void ptz_hori_pid_clear_zero()
@ -108,7 +113,9 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
// H_IError = PTZ_HORI_PID_INPUT_LIMIT * -1; // H_IError = PTZ_HORI_PID_INPUT_LIMIT * -1;
// } // }
//增量计算 //增量计算
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; // 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;
H_IIncPid = g_ptz.hori_pid.KP * (H_IError - g_ptz.hori_pid.LastError) + g_ptz.hori_pid.TI * H_IError;
//存储误差，用于下次计算 //存储误差，用于下次计算
g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError; g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError;
g_ptz.hori_pid.LastError = H_IError; g_ptz.hori_pid.LastError = H_IError;
@ -121,6 +128,10 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
//新调速方式 //新调速方式
static void ptz_hori_pid_task() static void ptz_hori_pid_task()
{ {
OSTimeDlyHMSM(0u, 0u, 0u, 1000u);
unsigned int time = 0; unsigned int time = 0;
char i = 0; char i = 0;
while(1) while(1)
@ -580,7 +591,36 @@ static void ptz_hori_pid_task()
g_ptz.hori_speed_actual = g_ptz.hori_speed_hall_actual; g_ptz.hori_speed_actual = g_ptz.hori_speed_hall_actual;
#endif #endif
#ifdef PTZ_PID_AS5047_SPEED
static float lastAngle = 0;
static float lastTime = 0;
float angle = 0;
float time = 0;
OSTimeDlyHMSM(0u, 0u, 0u, 20u);
/* 读取到正确速度为止 */
start:
angle = as5047d_hori_get_angle_a();
time = OSTimeGet();
if (angle < 0 || //防止读出的角度为负值
angle > 360.0||//防止读出的数值超过360
isnan(angle) == 1) {//防止读出的不是一个数
//以上错误的数据都该舍弃,从新读取
goto start;
}
float angleDifference = fabs(angle - lastAngle);
if (angleDifference < 3) {
// goto start;
return;
}
float timeDifference = fabs(time - lastTime);
g_ptz.hori_speed_actual = angleDifference / timeDifference / PTZ_HORI_RATIO * 1000;
#endif
/*由于系统实时调节能力不足将调速分为两个部分： /*由于系统实时调节能力不足将调速分为两个部分：
1.启动时首先进入直线比例快速提速； 1.启动时首先进入直线比例快速提速；
@ -645,7 +685,9 @@ static void ptz_hori_pid_task()
{ {
g_ptz.hori_pid.PidUT_float = PTZ_HORI_VR_MAX; g_ptz.hori_pid.PidUT_float = PTZ_HORI_VR_MAX;
} }
tempSpeedH = g_ptz.hori_pid.PidUT_float;
g_ptz.hori_pid.PidUT_uint = (unsigned int)(g_ptz.hori_pid.PidUT_float + 0.5); g_ptz.hori_pid.PidUT_uint = (unsigned int)(g_ptz.hori_pid.PidUT_float + 0.5);
//限制PID的输出值在某个指定的范围 //限制PID的输出值在某个指定的范围
@ -754,7 +796,9 @@ static float ptz_vert_pid_calculate(float SampSpeed)
// IError = PTZ_VERT_PID_INPUT_LIMIT * -1; // IError = PTZ_VERT_PID_INPUT_LIMIT * -1;
// } // }
//增量计算 //增量计算
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; // 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;
IIncPid = g_ptz.vert_pid.KP * (IError - g_ptz.vert_pid.LastError) + g_ptz.vert_pid.TI * IError;
//存储误差，用于下次计算 //存储误差，用于下次计算
g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError; g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError;
g_ptz.vert_pid.LastError = IError; g_ptz.vert_pid.LastError = IError;
@ -1196,7 +1240,7 @@ static void ptz_vert_pid_task()
g_ptz.vert_pid.hall_h123_motor_speed = g_ptz.vert_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) / 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
(float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM; (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
} }
g_ptz.vert_motor_speed_hall_actual = g_ptz.vert_pid.hall_h123_motor_speed; g_ptz.vert_motor_speed_hall_actual = g_ptz.vert_pid.hall_h123_motor_speed;
@ -1216,10 +1260,37 @@ static void ptz_vert_pid_task()
//根据电机转速计算云台转速 //根据电机转速计算云台转速
g_ptz.vert_speed_hall_actual = g_ptz.vert_motor_speed_hall_actual / PTZ_VERT_RATIO; 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; g_ptz.vert_speed_actual = g_ptz.vert_speed_hall_actual;
#endif #endif
#ifdef PTZ_PID_AS5047_SPEED
static float lastAngle = 0;
static float lastTime = 0;
float angle = 0;
float time = 0;
OSTimeDlyHMSM(0u, 0u, 0u, 20u);
/* 读取到正确速度为止 */
start:
angle = as5047d_vert_get_angle_a();
time = OSTimeGet();
if (angle < 0 || //防止读出的角度为负值
angle > 360.0||//防止读出的数值超过360
isnan(angle) == 1) {//防止读出的不是一个数
//以上错误的数据都该舍弃,从新读取
goto start;
}
float angleDifference = fabs(angle - lastAngle);
if (angleDifference < 3) {
// goto start;
return;
}
float timeDifference = fabs(time - lastTime);
g_ptz.vert_speed_actual = angleDifference / timeDifference / PTZ_VERT_RATIO * 166.667f;
#endif
} }
//PID调速 //PID调速
@ -1303,7 +1374,9 @@ static void ptz_vert_pid_task()
} }
g_ptz.vert_pid.PidUT_uint = (unsigned int)(g_ptz.vert_pid.PidUT_float + 0.5); g_ptz.vert_pid.PidUT_uint = (unsigned int)(g_ptz.vert_pid.PidUT_float + 0.5);
tempSpeedV = g_ptz.vert_pid.PidUT_float;
//限制PID的输出值在某个指定的范围 //限制PID的输出值在某个指定的范围
if(g_ptz.vert_pid.PidUT_uint <= PTZ_VERT_VR_MIN)//限制输入模拟电压最小值 if(g_ptz.vert_pid.PidUT_uint <= PTZ_VERT_VR_MIN)//限制输入模拟电压最小值
{ {

16
APP/Device/Device_speed/speed_to_bldc.h
View File

@ -228,23 +228,25 @@
//通过芯片反馈测速 //通过芯片反馈测速
//#define PTZ_HORI_PID_JY02A_SPEED //#define PTZ_HORI_PID_JY02A_SPEED
//#define PTZ_VERT_PID_JY02A_SPEED //#define PTZ_VERT_PID_JY02A_SPEED
#define PTZ_PID_HALL_SPEED 1 // #define PTZ_PID_HALL_SPEED 1
#define PTZ_PID_AS5047_SPEED 1
#define PTZ_HORI_PID_T 30u #define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 20.0//比例系数 #define PTZ_HORI_PID_HORI_KP 100.0//比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数 #define PTZ_HORI_PID_HORI_TI 30.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数 #define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定 #define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异 #define PTZ_HORI_PID_OUTPUT_LIMIT 50.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_VERT_PID_T 30u #define PTZ_VERT_PID_T 30u
#define PTZ_VERT_PID_VERT_KP 20.0//比例系数 #define PTZ_VERT_PID_VERT_KP 100.0//比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数 #define PTZ_VERT_PID_VERT_TI 30.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数 #define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定 #define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异 #define PTZ_VERT_PID_OUTPUT_LIMIT 50.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_HORI_PID_T_MAX 100u//PID调速最大周期 #define PTZ_HORI_PID_T_MAX 100u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 100u//PID调速最大周期 #define PTZ_VERT_PID_T_MAX 100u//PID调速最大周期

30
APP/Service/service_statusmonitor.c
View File

@ -14,23 +14,35 @@ static char ptz_temp_volt_current_fault_detect_task()
static unsigned short int time_ms; static unsigned short int time_ms;
time_ms ++; time_ms ++;
static unsigned char hCurrCount = 0;
static unsigned char vCurrCount = 0;
if(time_ms < 50) if(time_ms < 50)
{ {
//轻型云台峰值电流5.4A， //轻型云台峰值电流5.4A，
if(H_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_W >= PHASE_CURRENT ) if(H_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_W >= PHASE_CURRENT )
{//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。 {//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。
if (3 < hCurrCount++) {
g_ptz.fault_detect.Phase_curr_H = FAULT;//水平电机相电流过大，报警 g_ptz.fault_detect.Phase_curr_H = FAULT;//水平电机相电流过大，报警
ptz_hori_stop(PTZ_HORI_STOP_TIME);
ptz_hori_stop(PTZ_HORI_STOP_TIME); }
} }
else
hCurrCount = 0;
if(V_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_W >= PHASE_CURRENT ) if(V_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_W >= PHASE_CURRENT )
{//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。 {//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。
if (3 < vCurrCount++) {
g_ptz.fault_detect.Phase_curr_V = FAULT;//垂直电机相电流过大，报警 g_ptz.fault_detect.Phase_curr_V = FAULT;//垂直电机相电流过大，报警
ptz_vert_stop(PTZ_VERT_STOP_TIME);
ptz_vert_stop(PTZ_VERT_STOP_TIME); }
} }
else
vCurrCount = 0;
return 1; return 1;
} }
else else

8
PROJECT/OS2.ewp
View File

@ -718,11 +718,11 @@
</option> </option>
<option> <option>
<name>OCOutputOverride</name> <name>OCOutputOverride</name>
<state>1</state> <state>0</state>
</option> </option>
<option> <option>
<name>OOCOutputFile</name> <name>OOCOutputFile</name>
<state>LW21_01B-3S24_BLDC_V20-SV20_24052101.bin</state> <state>OS2.bin</state>
</option> </option>
<option> <option>
<name>OOCCommandLineProducer</name> <name>OOCCommandLineProducer</name>
@ -761,7 +761,7 @@
</option> </option>
<option> <option>
<name>IlinkOutputFile</name> <name>IlinkOutputFile</name>
<state>gd32f4xx.out</state> <state>gd32f4xx.elf</state>
</option> </option>
<option> <option>
<name>IlinkDebugInfoEnable</name> <name>IlinkDebugInfoEnable</name>
@ -825,7 +825,7 @@
</option> </option>
<option> <option>
<name>IlinkIcfFile</name> <name>IlinkIcfFile</name>
<state>D:\psx\Pan-Tilt\1.software\HY\4.0 LW21-01B\BSP\IAR\GD32F450xE_APP.icf</state> <state>D:\psx\Pan-Tilt\1.software\HY\4.0 LW21-01B\BSP\IAR\GD32F450xE.icf</state>
</option> </option>
<option> <option>
<name>IlinkIcfFileSlave</name> <name>IlinkIcfFileSlave</name>