From 973dc0352b6ece1c825b635be07f0ecbc4f536f5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=B5=B7=E5=BA=8A=E5=B0=B1=E7=8A=AF=E5=9B=B0?=
 <11730503+psx123456@user.noreply.gitee.com>
Date: Mon, 9 Jun 2025 14:40:49 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=9E=8B=E7=94=B5=E6=9C=BApid?=
 =?UTF-8?q?=E8=B0=83=E8=8A=82?=
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---
 APP/Common/ptz_default_value.h          | 10 +++++-----
 APP/Device/Device_speed/speed_to_bldc.c | 11 +++++++----
 APP/Device/Device_speed/speed_to_bldc.h |  7 ++++---
 3 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/APP/Common/ptz_default_value.h b/APP/Common/ptz_default_value.h
index c085a14..08472b7 100644
--- a/APP/Common/ptz_default_value.h
+++ b/APP/Common/ptz_default_value.h
@@ -338,11 +338,11 @@
 #ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
 
       ///ˮƽ������ٱ�
-      #define PTZ_HORI_MOTOR_RATIO    27.0
+      #define PTZ_HORI_MOTOR_RATIO    3.0
       ///ˮƽ����ּ��ٱ�
       #define PTZ_HORI_BIG_GEAR_RATIO 50.0
       ///ˮƽ�ܼ��ٱ�
-      #define PTZ_HORI_RATIO          1350.0
+      #define PTZ_HORI_RATIO          150.0
       ///ˮƽ�������ģ���ѹ���ֵ
       #define PTZ_HORI_VR_MAX         1999
       ///ˮƽ�������ģ���ѹ��Сֵ
@@ -354,11 +354,11 @@
       ///ˮƽ�����Сת��
       #define PTZ_HORI_MOTOR_MIN_SPEED   405.0
       ///ˮƽ��̨���ת��
-      #define PTZ_HORI_MAX_SPEED         2.2
+      #define PTZ_HORI_MAX_SPEED         20.0
       ///ˮƽ��̨��Сת��
-      #define PTZ_HORI_MIN_SPEED         0.3    
+      #define PTZ_HORI_MIN_SPEED         2.7  
       ///ˮƽ��̨Ĭ������ٶ�
-      #define PTZ_HORI_BEST_SPEED        1.6   
+      #define PTZ_HORI_BEST_SPEED        12.0   
 
       /**********************************************************/
 
diff --git a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c
index 8642457..dfbbf14 100644
--- a/APP/Device/Device_speed/speed_to_bldc.c
+++ b/APP/Device/Device_speed/speed_to_bldc.c
@@ -98,7 +98,7 @@ void ptz_hori_pid_clear_zero()
 //  hori_dac0_data_out(0);
 }
 
-static float ptz_hori_pid_calculate(float H_SampSpeed)
+static float ptz_hori_pid_calculate(float H_SampSpeed, uint32_t H_SampTime)
 {
   float H_IError,H_IIncPid;
   H_IError = g_ptz.hori_speed_set - H_SampSpeed;//µ±Ç°Îó²îPID_INPUT_LIMIT
@@ -112,7 +112,10 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
 //    H_IError = PTZ_HORI_PID_INPUT_LIMIT * -1;
 //  }
   //ÔöÁ¿¼ÆËã
-  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 = PTZ_HORI_PID_HORI_KP * (H_IError - g_ptz.hori_pid.LastError) + PTZ_HORI_PID_HORI_TI * H_SampTime * H_IError;
+
   //´æ´¢Îó²î£¬ÓÃÓÚÏ´μÆËã
   g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError;
   g_ptz.hori_pid.LastError = H_IError;
@@ -652,7 +655,7 @@ static void ptz_hori_pid_task()
             continue;
         }
 
-        int32_t time;
+        uint32_t time;
         if (g_speed_to_hall.hori_speed_t.endTime_60ms > g_speed_to_hall.hori_speed_t.startTime_60ms) {
             time = (g_speed_to_hall.hori_speed_t.endTime_60ms - g_speed_to_hall.hori_speed_t.startTime_60ms - 1) * SPEED_TIMER_PERIOD
                     + g_speed_to_hall.hori_speed_t.endTime_us + (SPEED_TIMER_PERIOD - g_speed_to_hall.hori_speed_t.startTime_us);
@@ -679,7 +682,7 @@ static void ptz_hori_pid_task()
       else
       {
         //¼ÆËãPID¿ØÖÆÆ÷Êä³öÖµ
-        g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual) + g_ptz.hori_pid.LastUT_float;      
+        g_ptz.hori_pid.PidUT_float = ptz_hori_pid_calculate(g_ptz.hori_speed_actual, time) + g_ptz.hori_pid.LastUT_float;      
         
         //¿ØÖÆPIDµÄÊä³öÖµÔöÁ¿£¬µ±Ç°Êä³öÖµÓëÉÏÒ»´ÎÊä³öÖµµÄ²îÖµ±ØÐëÔÚij¸ö·¶Î§ÄÚ
         //¼´·ÀÖ¹PIDÔöÁ¿¹ý´ó
diff --git a/APP/Device/Device_speed/speed_to_bldc.h b/APP/Device/Device_speed/speed_to_bldc.h
index 62c7c41..b4c2513 100644
--- a/APP/Device/Device_speed/speed_to_bldc.h
+++ b/APP/Device/Device_speed/speed_to_bldc.h
@@ -228,11 +228,12 @@
             //ͨ��оƬ��������
       //#define  PTZ_HORI_PID_JY02A_SPEED
       //#define  PTZ_VERT_PID_JY02A_SPEED
-      #define PTZ_PID_HALL_SPEED               1
+      #define PTZ_PID_HALL_SPEED                1
+      #define PTZ_HALL_SPEED_SL                 1
 
       #define PTZ_HORI_PID_T             30u
-      #define PTZ_HORI_PID_HORI_KP       20.0//����ϵ��
-      #define PTZ_HORI_PID_HORI_TI       100.0    //����ϵ��
+      #define PTZ_HORI_PID_HORI_KP       35.0//����ϵ��
+      #define PTZ_HORI_PID_HORI_TI       0.0003    //����ϵ��
       #define PTZ_HORI_PID_HORI_TD       0.0        //΢��ϵ��
 
       #define PTZ_HORI_PID_INPUT_LIMIT   100.0//PID��������ֵ�޶�