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pengsx:master
pengsx:H3k_V10k-speed
pengsx:原始测试程序
pengsx:test
pengsx:H3k_V10k
pengsx:SL_gigabitSwitch_3626motor
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compare: pengsx:H3k_V10k
Branches Tags
pengsx:H3k_V10k-speed
pengsx:原始测试程序
pengsx:test
pengsx:H3k_V10k
pengsx:master
pengsx:SL_gigabitSwitch_3626motor

3 Commits
master ... H3k_V10k

Author SHA1 Message Date
起床就犯困 08f686831e 添加编码器速度计算出错 2025-06-03 10:33:27 +08:00
起床就犯困 203a25e7a7 更改速度计算方式和相电流计算方式 2025-05-30 16:36:53 +08:00
起床就犯困 9b021d1a0d 修该减速比 2025-05-30 16:36:19 +08:00
8 changed files with 357 additions and 191 deletions
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8
.vscode/settings.json vendored Normal file
View File

@ -0,0 +1,8 @@
{
"files.associations": {
"bsp_os.h": "c",
"cmath": "c",
"service_error_count.h": "c",
"speed_to_step.h": "c"
}
}

20
APP/Common/ptz_default_value.h
View File

@ -338,11 +338,11 @@
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 27.0
#define PTZ_HORI_MOTOR_RATIO 3.0
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 50.0
///水平总减速比
#define PTZ_HORI_RATIO 1350.0
#define PTZ_HORI_RATIO 150.0
///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值
@ -354,20 +354,20 @@
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 405.0
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 2.2
#define PTZ_HORI_MAX_SPEED 20.0
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 0.3
#define PTZ_HORI_MIN_SPEED 2.7
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 1.6
#define PTZ_HORI_BEST_SPEED 14.4
/**********************************************************/
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 27.0
#define PTZ_VERT_MOTOR_RATIO 10.0
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 50.0
///垂直总减速比
#define PTZ_VERT_RATIO 1350.0
#define PTZ_VERT_RATIO 500.0
///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1999
///垂直电机调速模拟电压最小值
@ -379,11 +379,11 @@
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 405.0
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 2.2
#define PTZ_VERT_MAX_SPEED 6.0
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.3
#define PTZ_VERT_MIN_SPEED 0.81
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 1.6
#define PTZ_VERT_BEST_SPEED 4.3
//电机磁极对数

153
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -9,6 +9,10 @@
#ifdef PTZ_BLDC_MOTOR
static volatile float tempSpeedH = 0;
static volatile float tempSpeedV = 0;
//发送云台实际转速
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.T = PTZ_HORI_PID_T / 1000.0;//采样周期
//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.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.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;//累计误差
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.T = PTZ_VERT_PID_T / 1000.0;//采样周期
//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.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.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()
@ -108,7 +113,9 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
// H_IError = PTZ_HORI_PID_INPUT_LIMIT * -1;
// }
//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
g_ptz.hori_pid.PrevError = g_ptz.hori_pid.LastError;
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
static void ptz_hori_pid_task()
{
OSTimeDlyHMSM(0u, 0u, 0u, 1000u);
unsigned int time = 0;
char i = 0;
while(1)
@ -581,6 +592,47 @@ static void ptz_hori_pid_task()
#endif
#ifdef PTZ_PID_AS5047_SPEED
static float lastAngle = 0;
static float lastTime = 0;
float angle = 0;
float time = 0;
term_printf("OSTimeGet : %d \n", OSTimeGet());
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
term_printf("OSTimeGet : %d \n", OSTimeGet());
/* 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 > 180) {
angleDifference = 360 - angleDifference;
}
// if (angleDifference < 3) {
// // goto start;
// return;
// }
float timeDifference = fabs(time - lastTime);
g_ptz.hori_speed_actual = angleDifference / timeDifference / PTZ_HORI_RATIO * 166.67f;
lastAngle = angle;
lastTime = time;
term_printf("angleDifference : %f, timeDifference : %f\n", angleDifference, timeDifference);
#endif
/*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；
@ -646,6 +698,8 @@ static void ptz_hori_pid_task()
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);
//限制PID的输出值在某个指定的范围
@ -754,7 +808,9 @@ static float ptz_vert_pid_calculate(float SampSpeed)
// IError = PTZ_VERT_PID_INPUT_LIMIT * -1;
// }
//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
g_ptz.vert_pid.PrevError = g_ptz.vert_pid.LastError;
g_ptz.vert_pid.LastError = IError;
@ -1219,6 +1275,33 @@ static void ptz_vert_pid_task()
#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
}
@ -1304,6 +1387,8 @@ static void ptz_vert_pid_task()
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
if(g_ptz.vert_pid.PidUT_uint <= PTZ_VERT_VR_MIN)//限制输入模拟电压最小值
{
@ -1318,7 +1403,8 @@ static void ptz_vert_pid_task()
//将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片
// vert_dac1_data_out( g_ptz.vert_pid.PidUT_uint);
v_pwm_duty_change(g_ptz.vert_pid.PidUT_uint);
// v_pwm_duty_change(g_ptz.vert_pid.PidUT_uint);
v_pwm_duty_change(500);
//将当前PID输出值保存
g_ptz.vert_pid.LastUT_float = g_ptz.vert_pid.PidUT_float;
}
@ -1523,6 +1609,55 @@ void init_speed_module(void)
#endif
}
/**
* @param 得到水平旋转的速度
* @return none
*
*/
static volatile float hori_speed_actual = 0;
static volatile float angleDifference = 0;
void as5047d_hori_get_speed(void)
{
static float lastAngle = 0;
static float lastTime = 0;
float angle = 0;
float time = 0;
if(g_ptz.hori_start_stop_set == PTZ_HORI_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;
return;
}
angleDifference = fabs(angle - lastAngle);
if (angleDifference > 180) {
angleDifference = 360 - angleDifference;
}
// float timeDifference = time - lastTime;
hori_speed_actual = angleDifference / PTZ_HORI_BIG_GEAR_RATIO * 16.67f;
lastAngle = angle;
lastTime = time;
}
}
void as5047d_vert_get_speed(void)
{
}
void as5047d_get_speed_printf(void)
{
pdebug(DEBUG_LEVEL_INFO, "hori_speed_actual = %f\n", hori_speed_actual);
}
#endif

310
APP/Device/Device_speed/speed_to_bldc.h
View File

@ -8,114 +8,114 @@
#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
#define PID_B 1
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.6 //水平比例调速增加的倍数
//水平速度大于设定速度时
// #define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
// #define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //垂直比例调速增加的倍数
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.6 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
// #define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
// #define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 3.5//4//1.4 //0.014//0.005 //比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_HORI_KP 3.5//4//1.4 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_INPUT_LIMIT 100//6.91//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_INPUT_LIMIT 100//6.91//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T 20u
#define PTZ_VERT_PID_VERT_KP 3//2//1.4 //0.014//0.005 //比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_VERT_KP 3//2//1.4 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_INPUT_LIMIT 100//4.0//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_INPUT_LIMIT 100//4.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_T_MAX 75//50u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 75//50u//PID调速最大周期
#define PTZ_HORI_PID_T_MAX 75//50u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 75//50u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 30//PID调速快速增量
#define PTZ_VERT_PID_ADD 30//PID调速快速增量
#define PTZ_HORI_PID_ADD 30//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 30//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD_A 10//10//PID调速快速增量
#define PTZ_VERT_PID_ADD_A 10//15//PID调速快速增量
#define PTZ_HORI_PID_ADD_A 10//10//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD_A 10//15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif
#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
#define PID_B 1
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.2 //水平比例调速增加的倍数
//水平速度大于设定速度时
// #define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
// #define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //垂直比例调速增加的倍数
//垂直速度大于设定速度时
// #define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //垂直比例调速的范围
// #define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //垂直比例调速增加的倍数
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.2 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
// #define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
// #define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
// #define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
// #define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//#define PID_A 1
// #define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
// #define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//通过芯片反馈测速
// #define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
// #define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//ͨ<EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_JY02A_SPEED
//#define PTZ_VERT_PID_JY02A_SPEED
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HORI_PID_T 20u
#define PTZ_HORI_PID_HORI_KP 0.6//1.0//6.0//比例系数
#define PTZ_HORI_PID_HORI_TI 70.0//80.0//100.0//积分系数
#define PTZ_HORI_PID_HORI_TD 0.001//微分系数
#define PTZ_HORI_PID_HORI_KP 0.6//1.0//6.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TI 70.0//80.0//100.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TD 0.001//΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#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_INPUT_LIMIT 100.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T 20u
#define PTZ_VERT_PID_VERT_KP 6//6.0//比例系数
#define PTZ_VERT_PID_VERT_TI 80.0//100.0//积分系数
#define PTZ_VERT_PID_VERT_TD 0.001//微分系数
#define PTZ_VERT_PID_VERT_KP 6//6.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 80.0//100.0//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.001//΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#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_INPUT_LIMIT 100.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_T_MAX 80//75u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 80//75u//PID调速最大周期
#define PTZ_HORI_PID_T_MAX 80//75u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 80//75u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 20//PID调速快速增量
#define PTZ_VERT_PID_ADD 20//PID调速快速增量
#define PTZ_HORI_PID_ADD 20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD_A 15//PID调速快速增量
#define PTZ_VERT_PID_ADD_A 15//PID调速快速增量
#define PTZ_HORI_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif
#ifdef PTZ_HEAVY_WORM_L6235D_AS5047D
#define PID_B 1
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.4 //水平比例调速增加的倍数
//水平速度大于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.4 //垂直比例调速增加的倍数
//垂直速度大于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //垂直比例调速增加的倍数
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
@ -127,147 +127,149 @@
#define PTZ_HORI_PID_T 50u
#define PTZ_HORI_PID_HORI_KP 10.0//3.0 //0.014//0.005 //比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_HORI_KP 10.0//3.0 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_INPUT_LIMIT 6.91//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_INPUT_LIMIT 6.91//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T 50u
#define PTZ_VERT_PID_VERT_KP 20.0//3.0 //0.014//0.005 //比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_VERT_KP 20.0//3.0 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_INPUT_LIMIT 4.0//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_INPUT_LIMIT 4.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_T_MAX 75//50u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 75//50u//PID调速最大周期
#define PTZ_HORI_PID_T_MAX 75//50u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 75//50u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 30//PID调速快速增量
#define PTZ_VERT_PID_ADD 30//PID调速快速增量
#define PTZ_HORI_PID_ADD 30//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 30//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD_A 20//PID调速快速增量
#define PTZ_VERT_PID_ADD_A 20//PID调速快速增量
#define PTZ_HORI_PID_ADD_A 20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD_A 20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_12V
#define PID_B 1
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.6 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.3 //水平比例调速增加的倍数
//水平速度大于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.6 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.3 //垂直比例调速增加的倍数
//垂直速度大于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //垂直比例调速增加的倍数
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.6 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.3 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.6 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.3 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//#define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//通过芯片反馈测速
//#define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//#define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//ͨ<EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_JY02A_SPEED
//#define PTZ_VERT_PID_JY02A_SPEED
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 2.0//6.0 //0.014//0.005 //比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_HORI_KP 2.0//6.0 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_HORI_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//6.91//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_INPUT_LIMIT 100.0//6.91//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T 30u
#define PTZ_VERT_PID_VERT_KP 2.0//6.0 //0.014//0.005 //比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_VERT_KP 2.0//6.0 //0.014//0.005 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TI 100.0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_VERT_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//4.0//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_INPUT_LIMIT 100.0//4.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 200.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ֮<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD>
#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_HORI_PID_T_MAX 100u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 100u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 20//40//PID调速快速增量
#define PTZ_VERT_PID_ADD 20//40//PID调速快速增量
#define PTZ_HORI_PID_ADD 20//40//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 20//40//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD_A 15//PID调速快速增量
#define PTZ_VERT_PID_ADD_A 15//PID调速快速增量
#define PTZ_HORI_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
#define PID_B 1
//水平速度小于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.2 //水平比例调速增加的倍数
//水平速度大于设定速度时
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //水平比例调速的范围
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //水平比例调速增加的倍数
//垂直速度小于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //垂直比例调速增加的倍数
//垂直速度大于设定速度时
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //垂直比例调速的范围
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //垂直比例调速增加的倍数
//ˮƽ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_LESS 0.4 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_LESS 1.2 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//ˮƽ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_HORI_PRO_ADD_RANGE_MORE 0.5 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_HORI_PRO_ADD_MUL_MORE 0.8 //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_LESS 0.4 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_LESS 1.2 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD>ֱ<EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD>ʱ
#define PTZ_VERT_PRO_ADD_RANGE_MORE 0.5 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٵķ<EFBFBD>Χ
#define PTZ_VERT_PRO_ADD_MUL_MORE 0.8 //<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵı<EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//#define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//角度变化异步
//通过芯片反馈测速
//#define PTZ_HORI_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//#define PTZ_VERT_PID_AS5048A_ANGLE_ASY_SPEED 2//<EFBFBD>Ƕȱ仯<EFBFBD>첽
//ͨ<EFBFBD><EFBFBD>оƬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_JY02A_SPEED
//#define PTZ_VERT_PID_JY02A_SPEED
#define PTZ_PID_HALL_SPEED 1
#define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 20.0//比例系数
#define PTZ_HORI_PID_HORI_TI 100.0 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
// #define PTZ_PID_AS5047_SPEED 1
#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_T 30u
#define PTZ_HORI_PID_HORI_KP 100.0//<2F><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
#define PTZ_HORI_PID_HORI_TI 30.0 //<2F><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
#define PTZ_HORI_PID_HORI_TD 0.0 //΢<><CEA2>ϵ<EFBFBD><CFB5>
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_HORI_PID_OUTPUT_LIMIT 50.0//PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><DEB6><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ֵ֮<D6B5><D6AE>IJ<EFBFBD><C4B2><EFBFBD>
#define PTZ_VERT_PID_T 30u
#define PTZ_VERT_PID_VERT_KP 20.0//比例系数
#define PTZ_VERT_PID_VERT_TI 100.0 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_VERT_KP 100.0//<2F><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
#define PTZ_VERT_PID_VERT_TI 30.0 //<2F><><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
#define PTZ_VERT_PID_VERT_TD 0.0 //΢<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
#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_INPUT_LIMIT 100.0//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD>
#define PTZ_VERT_PID_OUTPUT_LIMIT 50.0//PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>޶<EFBFBD><DEB6><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ֵ֮<D6B5><D6AE>IJ<EFBFBD><C4B2><EFBFBD>
#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_HORI_PID_T_MAX 100u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_T_MAX 100u//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_HORI_PID_ADD 20//20//PID调速快速增量
#define PTZ_VERT_PID_ADD 20//20//PID调速快速增量
#define PTZ_HORI_PID_ADD 20//20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_VERT_PID_ADD 20//20//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_HORI_PID_ADD_A 15//PID调速快速增量
//#define PTZ_VERT_PID_ADD_A 15//PID调速快速增量
//#define PTZ_HORI_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#define PTZ_VERT_PID_ADD_A 15//PID<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif
//PID调速
//PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PID_ADJUST_SPEED 0
//方向调速
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define DIRECTOR_ADJUST_SPEED 1
#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
//通过方向PWM波提供反向力矩调速
//是否启用方向调速
//ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWM<EFBFBD><EFBFBD><EFBFBD>ṩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>÷<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_CONTROL_SPEED_L6235D 2
//方向调速总周期
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PTZ_DIRECTOR_SPEED_T 10//20
#endif
@ -277,6 +279,10 @@ void ptz_pid_Init();
void ptz_hori_pid_clear_zero();
void ptz_vert_pid_clear_zero();
void init_speed_module(void);
void as5047d_hori_get_speed(void);
void as5047d_vert_get_speed(void);
#endif
#endif

20
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;
time_ms ++;
static unsigned char hCurrCount = 0;
static unsigned char vCurrCount = 0;
if(time_ms < 50)
{
//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 )
{//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
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 )
{//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
ptz_vert_stop(PTZ_VERT_STOP_TIME);
}
}
else
vCurrCount = 0;
return 1;
}
else

1
BSP/Driver/full_bridge/full_bridge.c
View File

@ -377,6 +377,7 @@ void h_bldc_six_step()
}
}
}
}
/*!

4
GD32F4xx_Firmware_Library/SYSTICK/gd32f4xx_it.c
View File

@ -391,6 +391,10 @@ void TIMER4_IRQHandler(void)
v_bldc_six_step();
h_bldc_six_step();
as5047d_hori_get_speed();
as5047d_vert_get_speed();
timer_interrupt_flag_clear(TIMER4,TIMER_INT_FLAG_UP);
}
}

8
PROJECT/OS2.ewp
View File

@ -718,11 +718,11 @@
</option>
<option>
<name>OCOutputOverride</name>
<state>1</state>
<state>0</state>
</option>
<option>
<name>OOCOutputFile</name>
<state>LW21_01B-3S24_BLDC_V20-SV20_24052101.bin</state>
<state>OS2.bin</state>
</option>
<option>
<name>OOCCommandLineProducer</name>
@ -761,7 +761,7 @@
</option>
<option>
<name>IlinkOutputFile</name>
<state>gd32f4xx.out</state>
<state>gd32f4xx.elf</state>
</option>
<option>
<name>IlinkDebugInfoEnable</name>
@ -825,7 +825,7 @@
</option>
<option>
<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>
<name>IlinkIcfFileSlave</name>