221 lines
8.5 KiB
C
221 lines
8.5 KiB
C
|
/******************** (C) COPYRIGHT 2024 GeekRebot *****************************
|
|||
|
|
* File Name : control.c
|
|||
|
|
* Current Version : V1.0 & ST 3.5.0
|
|||
|
|
* Author : zhanli 719901725@qq.com
|
|||
|
|
* Date of Issued : 2024.01.06 zhanli: Create
|
|||
|
|
* Comments : 平衡车控制代码
|
|||
|
|
********************************************************************************/
|
|||
|
|
#include "control.h"
|
|||
|
|
|
|||
|
|
/**----------------------------------------------------------------------
|
|||
|
|
* Function : EXTI15_10_IRQHandler
|
|||
|
|
* Description : 所有的控制代码都在这里面, 5ms定时中断由MPU6050的INT引脚触发
|
|||
|
|
严格保证采样和数据处理的时间同步
|
|||
|
|
* Author : zhanli&719901725@qq.com
|
|||
|
|
* Date : 2023/05/20 zhanli
|
|||
|
|
*---------------------------------------------------------------------**/
|
|||
|
|
int EXTI15_10_IRQHandler(void)
|
|||
|
|
{
|
|||
|
|
static u8 Flag_Target; // 控制函数相关变量，提供10ms基准
|
|||
|
|
int Balance_Pwm, Velocity_Pwm; // 平衡环PWM变量，速度环PWM变量
|
|||
|
|
int Motor_Left, Motor_Right; // 电机PWM变量 应是Motor的 向Moto致敬
|
|||
|
|
if (INT == 0)
|
|||
|
|
{
|
|||
|
|
EXTI->PR = 1 << 12; // 清除中断标志位
|
|||
|
|
Flag_Target = !Flag_Target;
|
|||
|
|
IMU_GetAngle(); // 更新姿态 5ms读取一次
|
|||
|
|
Encoder_Left = -Read_Encoder(2); // 读取左轮编码器的值，前进为正，后退为负
|
|||
|
|
Encoder_Right = -Read_Encoder(4); // 读取右轮编码器的值，前进为正，后退为负
|
|||
|
|
// 左轮A相接TIM2_CH1,右轮A相接TIM4_CH2,故这里两个编码器的极性相同
|
|||
|
|
if (Flag_Target == 1) // 实际上10ms控制一次
|
|||
|
|
return 0;
|
|||
|
|
|
|||
|
|
// 扫描按键状态 单击可启停电机
|
|||
|
|
Key();
|
|||
|
|
|
|||
|
|
// 平衡PID控制,Gyro_Balance平衡角速度极性：前倾为正，后倾为负
|
|||
|
|
Balance_Pwm = Balance(Angle_Balance, Gyro_Balance);
|
|||
|
|
// 速度环PID控制,记住，速度反馈是正反馈，就是小车快的时候要慢下来就需要再跑快一点
|
|||
|
|
Velocity_Pwm = Velocity(Encoder_Left, Encoder_Right);
|
|||
|
|
|
|||
|
|
Motor_Left = Balance_Pwm + Velocity_Pwm; // 计算左轮电机最终PWM
|
|||
|
|
Motor_Right = Balance_Pwm + Velocity_Pwm; // 计算右轮电机最终PWM
|
|||
|
|
|
|||
|
|
Motor_Left = Motor_PWMLimit(Motor_Left, 6900, -6900);
|
|||
|
|
Motor_Right = Motor_PWMLimit(Motor_Right, 6900, -6900); // PWM限幅
|
|||
|
|
|
|||
|
|
if (Turn_Off(Angle_Balance) == 0) // 如果不存在异常
|
|||
|
|
Motor_PWMSet(Motor_Left, Motor_Right); // 赋值给PWM寄存器
|
|||
|
|
}
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**----------------------------------------------------------------------
|
|||
|
|
* Function : Balance
|
|||
|
|
* Description : 直立PD控制
|
|||
|
|
* Input : Angle:角度, Gyro:角速度
|
|||
|
|
* Author : zhanli&719901725@qq.com
|
|||
|
|
* Date : 2023/05/20 zhanli
|
|||
|
|
*---------------------------------------------------------------------**/
|
|||
|
|
int Balance(float Angle, float Gyro)
|
|||
|
|
{
|
|||
|
|
// 直立环PD参数
|
|||
|
|
float Balance_Kp = 225, Balance_Kd = 1.08;
|
|||
|
|
float Angle_bias, Gyro_bias;
|
|||
|
|
int balance;
|
|||
|
|
// 求出平衡的角度中值 和机械相关
|
|||
|
|
Angle_bias = Middle_angle - Angle;
|
|||
|
|
Gyro_bias = 0 - Gyro;
|
|||
|
|
// 计算平衡控制的电机PWM PD控制 kp是P系数 kd是D系数
|
|||
|
|
balance = -Balance_Kp * Angle_bias - Gyro_bias * Balance_Kd;
|
|||
|
|
return balance;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**************************************************************************
|
|||
|
|
Function: Speed PI control
|
|||
|
|
Input : encoder_left：Left wheel encoder reading；encoder_right：Right wheel encoder reading
|
|||
|
|
Output : Speed control PWM
|
|||
|
|
函数功能：速度控制PWM
|
|||
|
|
入口参数：encoder_left：左轮编码器读数；encoder_right：右轮编码器读数
|
|||
|
|
返回 值：速度控制PWM
|
|||
|
|
**************************************************************************/
|
|||
|
|
int Velocity(int encoder_left, int encoder_right)
|
|||
|
|
{
|
|||
|
|
float Velocity_Kp = 160, Velocity_Ki = 0.8; // 速度环PI参数
|
|||
|
|
static float velocity, Encoder_Least, Encoder_bias;
|
|||
|
|
static float Encoder_Integral;
|
|||
|
|
// 速度PI控制器
|
|||
|
|
Encoder_Least = 0 - (encoder_left + encoder_right); // 获取最新速度偏差==测量速度（左右编码器之和）-目标速度（此处为零）
|
|||
|
|
Encoder_bias *= 0.8; // 一阶低通滤波器
|
|||
|
|
Encoder_bias += Encoder_Least * 0.2; // 一阶低通滤波器
|
|||
|
|
// 相当于上次偏差的0.8 + 本次偏差的0.2，减缓速度差值，减少对直立的干扰
|
|||
|
|
Encoder_Integral += Encoder_bias; // 积分出位移 积分时间：10ms
|
|||
|
|
if (Encoder_Integral > 10000)
|
|||
|
|
Encoder_Integral = 10000; // 积分限幅
|
|||
|
|
if (Encoder_Integral < -10000)
|
|||
|
|
Encoder_Integral = -10000; // 积分限幅
|
|||
|
|
|
|||
|
|
// 速度控制
|
|||
|
|
velocity = -Encoder_bias * Velocity_Kp - Encoder_Integral * Velocity_Ki;
|
|||
|
|
|
|||
|
|
// 电机关闭后清除积分
|
|||
|
|
if (Turn_Off(Angle_Balance) == 1 || Flag_Stop == 1)
|
|||
|
|
Encoder_Integral = 0;
|
|||
|
|
return velocity;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**************************************************************************
|
|||
|
|
Function: Assign to PWM register
|
|||
|
|
Input : motor_left：Left wheel PWM；motor_right：Right wheel PWM
|
|||
|
|
Output : none
|
|||
|
|
函数功能：赋值给PWM寄存器
|
|||
|
|
入口参数：左轮PWM、右轮PWM
|
|||
|
|
返回 值：无
|
|||
|
|
**************************************************************************/
|
|||
|
|
void Motor_PWMSet(int motor_left, int motor_right)
|
|||
|
|
{
|
|||
|
|
if (motor_left > 0)
|
|||
|
|
BIN1 = 1, BIN2 = 0; // 前进
|
|||
|
|
else
|
|||
|
|
BIN1 = 0, BIN2 = 1; // 后退
|
|||
|
|
PWMB = myabs(motor_left);
|
|||
|
|
if (motor_right > 0)
|
|||
|
|
AIN2 = 1, AIN1 = 0; // 前进
|
|||
|
|
else
|
|||
|
|
AIN2 = 0, AIN1 = 1; // 后退
|
|||
|
|
PWMA = myabs(motor_right);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**************************************************************************
|
|||
|
|
Function: PWM limiting range
|
|||
|
|
Input : IN：Input max：Maximum value min：Minimum value
|
|||
|
|
Output : Output
|
|||
|
|
函数功能：限制PWM赋值
|
|||
|
|
入口参数：IN：输入参数 max：限幅最大值 min：限幅最小值
|
|||
|
|
返回 值：限幅后的值
|
|||
|
|
**************************************************************************/
|
|||
|
|
int Motor_PWMLimit(int IN, int max, int min)
|
|||
|
|
{
|
|||
|
|
int OUT = IN;
|
|||
|
|
if (OUT > max){
|
|||
|
|
OUT = max;
|
|||
|
|
}
|
|||
|
|
if (OUT < min){
|
|||
|
|
OUT = min;
|
|||
|
|
}
|
|||
|
|
return OUT;
|
|||
|
|
}
|
|||
|
|
/**************************************************************************
|
|||
|
|
Function: Press the key to modify the car running state
|
|||
|
|
Input : none
|
|||
|
|
Output : none
|
|||
|
|
函数功能：按键修改小车运行状态
|
|||
|
|
入口参数：无
|
|||
|
|
返回 值：无
|
|||
|
|
**************************************************************************/
|
|||
|
|
void Key(void)
|
|||
|
|
{
|
|||
|
|
u8 tmp;
|
|||
|
|
tmp = click();
|
|||
|
|
if (tmp == 1){
|
|||
|
|
Flag_Stop = !Flag_Stop; // 单击控制小车的启停
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**************************************************************************
|
|||
|
|
Function: If abnormal, turn off the motor
|
|||
|
|
Input : angle：Car inclination；voltage：Voltage
|
|||
|
|
Output : 1：abnormal；0：normal
|
|||
|
|
函数功能：异常关闭电机
|
|||
|
|
入口参数：angle：小车倾角
|
|||
|
|
返回 值：1：异常 0：正常
|
|||
|
|
**************************************************************************/
|
|||
|
|
u8 Turn_Off(float angle)
|
|||
|
|
{
|
|||
|
|
u8 temp;
|
|||
|
|
if (angle < -40 || angle > 40 || 1 == Flag_Stop) // 倾角大于40度关闭电机
|
|||
|
|
{ // Flag_Stop置1关闭电机
|
|||
|
|
temp = 1;
|
|||
|
|
AIN1 = 0;
|
|||
|
|
AIN2 = 0;
|
|||
|
|
BIN1 = 0;
|
|||
|
|
BIN2 = 0;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
temp = 0;
|
|||
|
|
return temp;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**************************************************************************
|
|||
|
|
Function: Get angle
|
|||
|
|
Input : way：The algorithm of getting angle 1：DMP 2：kalman 3：Complementary filtering
|
|||
|
|
Output : none
|
|||
|
|
函数功能：获取角度
|
|||
|
|
入口参数：无
|
|||
|
|
返回 值：无
|
|||
|
|
**************************************************************************/
|
|||
|
|
void IMU_GetAngle(void)
|
|||
|
|
{
|
|||
|
|
Read_DMP(); // 读取加速度、角速度、倾角
|
|||
|
|
Angle_Balance = Pitch; // 更新平衡倾角,前倾为正，后倾为负
|
|||
|
|
Gyro_Balance = gyro[0]; // 更新平衡角速度,前倾为正，后倾为负
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**************************************************************************
|
|||
|
|
Function: Absolute value function
|
|||
|
|
Input : a：Number to be converted
|
|||
|
|
Output : unsigned int
|
|||
|
|
函数功能：绝对值函数
|
|||
|
|
入口参数：a：需要计算绝对值的数
|
|||
|
|
返回 值：无符号整型
|
|||
|
|
**************************************************************************/
|
|||
|
|
int myabs(int a)
|
|||
|
|
{
|
|||
|
|
int temp;
|
|||
|
|
if (a < 0)
|
|||
|
|
temp = -a;
|
|||
|
|
else
|
|||
|
|
temp = a;
|
|||
|
|
return temp;
|
|||
|
|
}
|